How to generate point clouds like the one in the paper

[rsj007]

I have generated point clouds using "generate_lidar_from_depth.py" with depth maps. I visulized the point clouds by mayavi, however very different from the one in the paper. The point clouds I generated has red distorations (inside the red circle)and some long tails. Anyone knows how to get the point clouds properly?

[Baboom-l]

This part may be caused by a wrong depth estimate in the sky. You can try to set the maximum height to 0.2m in generate_lidar_from_depth.py.

[rsj007]

Thanks! Is it 0.2m too small for visualize cars? And, which visualization tools do you use? Can you get ideal point clouds output?

[Baboom-l]

For the sedan, it does not affect the visualization results. However, it may have an effect for trucks or off-road vehicles in close proximity.These suggestions are only for the visualization of the point cloud and I am not sure if they will affect the results of the subsequent 3D object detection.

[Baboom-l]

I use the visualization in OpenPCDet