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I have a question while looking into how you generate the ground truth (demo 4).
In the paper, you mentioned that you use P_1 and P_2 and compute the overlap value with equation 3. And the result of it is figure 2 (a).
However, I am still not quite sure how you compute the overlap value ground truth shown in figure (c).
By looking into the com_overlap_yaw() function, you seem to compare the same point cloud with a different pose.
What confuses me is that reference_range and current_range are using the same point cloud, not P_1 and P_2.
It would be great if you could explain more. Thanks!
The text was updated successfully, but these errors were encountered:
Hi @Chen-Xieyuanli, following this issue, I see the com_overlap_yaw() function, when you compute the overlap: overlap = np.count_nonzero( abs(reference_range[reference_range > 0] - current_range[reference_range > 0]) < 1) / valid_num overlaps.append(overlap)
I understood the idea is to account only valid points, so I assume, we should have current_range[current_range > 0] rather than current_range[reference_range > 0] here? Let me know what do you think, thanks.
Hi, thanks for your great work!
I have a question while looking into how you generate the ground truth (demo 4).
In the paper, you mentioned that you use P_1 and P_2 and compute the overlap value with equation 3. And the result of it is figure 2 (a).
However, I am still not quite sure how you compute the overlap value ground truth shown in figure (c).
By looking into the com_overlap_yaw() function, you seem to compare the same point cloud with a different pose.
What confuses me is that reference_range and current_range are using the same point cloud, not P_1 and P_2.
It would be great if you could explain more. Thanks!
The text was updated successfully, but these errors were encountered: