Feature Request: Mechanism to reconstruct original sensor view image

[ltriess]

Hello,

can you provide a mechanism to restore the original sensor view image (cylindrical projection of the point cloud)? This is necessary for many semantic segmentation methods. It is possible to compute the azimuth and elevation angles from the point list to construct the point cloud, however there are a few issues:

• this usually does not lead to the correct projection, because of multiple point occlusions due to imprecision
• it is not clear where the ego coordinate system is located (related to issue What is the origin of ego coordinate system?  #67) -> origin of the sensor? location of the gps?
• missing measurements are not included in the point list, therefore a simple reshape of the list to an image is not possible (in contrast to nuScenes dataset)
• if the point cloud is ego motion corrected, it is not possible to reconstruct a dense cylindrical projection purely from the point list
• the projection will suffer from avoidable information loss

FYI @nisseknudsen