dims of multi_residuals_images, thanks! about lidar-mos HOT 9 CLOSED

Not really, we only use the current frame with extra residual images.
If n_input_scans = 2, it will be (x, y, z, r, e, residual1, residual2), which you could find in our paper, section III.C.

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Yes ,I think I got the meaning of the Section III. C.

So under the e Section III. C. If I use n_input_scans=2

I just need to change the arcg_cfg.yaml , and the code in"class SemanticKitti(Dataset)", like below?
(line 4 and 10 or line 5? ) .

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Dear author, I thought I have misunderstanding the code and code comments in lines 230,2301 234 235 236 &332. ( under the sequences of n_input_scans= 2)

in line 332, there is a "concat' operation, so If there is a looping in Line 236.
the dim of 'pro_full' will be added with( x, y,z, r,e, x,y,z,r,e, ....). ? right ?

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Dear author, I thought I have misunderstanding the code and code comments in lines 230,2301 234 235 236 &332. ( under the sequences of n_input_scans= 2)

in line 332, there is a "concat' operation, so If there is a looping in Line 236. the dim of 'pro_full' will be added with( x, y,z, r,e, x,y,z,r,e, ....). ? right ?

So under the sequences of n_input_scans= 2.
under my understanding of the paper Section III.C , I think I will use the line 230 + line 235? but I got the data flow about the "proj_full". it's dims is confused.

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In our method, we only use residual images but not full multiple scans.
We've however also tried to directly concatenate multiple scans together as you mentioned 230+235 and didn't get much improvement.

You could give it a try, and I only test it for two scans for an ablation which could be buggy for more scans.

I hope my answer helps.

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In our method, we only use residual images but not full multiple scans. We've however also tried to directly concatenate multiple scans together as you mentioned 230+235 and didn't get much improvement.

You could give it a try, and I only test it for two scans for an ablation which could be buggy for more scans.

I hope my answer helps.

Dear author,

Maybe I misunderstand the meanning of the " multi scan and multi residuals images"
I just want to follow the work in the section III.C with use multi residual images.

So now If I just have the two residual images ,residual_1,residual_2, just look at the image, like the code in line 243.
I dont need to change the Line 231& 236, just only change the n_inupt_scans to 2 in arch_cfg.yaml, ?

If it is right ,I think I have understanding the meaning.!!!

thanks for bother you again.

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Yes, if you only want to use residual images as what we used in our paper, you need then just change the config file.

可能中文沟通更容易一点，如果你只是想跟我们一样用当前帧的（x, y, z, r, e）加residual images。你只需要修改配置文件里面的n_input_scans就行了。
如果你想用多帧激光的信息（x1, y1, z1, r1, e1, x2, ..., e2）你可以用我们之前测试的代码230 + 235，但是这不是我所提的方法，我只测试过两帧的，对于多帧的情况可能会有问题。

希望我的回答是清楚的，如果你觉得有帮助，请帮我点个赞，谢谢！

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谢谢您，终于理解了，finally,
thanks!!!!

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请问一下，对于每帧生成8张残差图像的代码还没有开源是吗？我自己改了一下代码，但是和论文中8张残差图像的效果不太一样。

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