Why W=512 in projection pre-processing

[ziliHarvey]

I'm curious about during the data processing, why is 512 used to set W. It makes sense to set H=64 since it is 64 beams LiDAR, but how is 512 obtained for W? I recall 0.09° is the horizontal resolution and you picked 90° as the front view. Is 512 empirical for making projected images look like the real camera images? Thanks!

[AdnanBox]

Hi, the resolution of the LiDAR is 0.09° for 5Hz. At 10Hz, the resolution is around 0.1728°. Ideally, W comes out to be 520

[ziliHarvey]

Thanks for clarifying!

[liyang0522]

so in your preprocess, the zenith angle range is [-45, 45], and the azimuth angle is [-90,90] , radial distances r range is (0, inf)? if wrong ,could you please correct it? Thank you very much!