Complex-YOLOv4-Pytorch icon indicating copy to clipboard operation
Complex-YOLOv4-Pytorch copied to clipboard

Published 20 hours ago • verified publisher icon maudzung

Clarification about Heightmap

Open bhaskar-anand-iith opened this issue 3 years ago • 0 comments

As per the Complex Yolo paper, in the G field of RGB map of point cloud maximum height is encoded. zg (Sj ) = max(PΩi→j · [0, 0, 1]T )

However, it seems that in this implementation it is normalized height:

max_height = float(np.abs(bc['maxZ'] - bc['minZ'])) heightMap[np.int_(PointCloud_frac[:, 0]), np.int_(PointCloud_frac[:, 1])] = PointCloud_frac[:, 2] / max_height

Could you please clarify this?

bhaskar-anand-iith avatar Jul 21 '22 12:07 bhaskar-anand-iith