How depth image was generated and how the normalization works

[RafaDD]

I'm attracted by your fascinating work and thanks for sharing the code. I'm trying to train the model with my own data yet I found a few confusing points in the code and paper.

1.I noticed that equation 3 in your paper mentioned how to calculate the pixel position of a point on a depth image. The equation used the calculated angle divided by the resolution of the mmwave radar as the coordinate of the pixel. By running training code, I found that the input shape of a depth image was 64*256. As far as I know, mmwave radar usually has a resolution of over 10 degrees, it cannot provide such precise depth image. I’m wondering is it possible to tell me whether alternative methods were applied or did I misunderstood your code or your paper.

2.Another problem is that you mentioned to normalize the depth image data within the range [0, 255], I’m wondering how the normalization is applied. Is the radar position set to be 255 and linearly decrease the value of the depth image? Or set the closest point to the radar to be 255 and linearly decrease the value? Or is it some other ways?

[ChristopherLu]

@li-peize