When reproject pcl, why do you rerange order in decreasing depth?
ChillTerry opened this issue · comments
like what i have said in title, i am confused about this operation, if you can aswer me for this, i would appreciate it very much!
it is located in ./SalsaNext/train/common/laserscan.py line179-181.
Because of the de-skewing of the scan,
the assignment of each points to its corresponding (u, v) is
done in a descending range order, to ensure that all points
rendered in the image are in the current field of view of the
sensor.
-- I found the answer from RangeNet++