The RGB value in pcd files

[TrinhNC]

In the dataset.py you considered the second last value is depth value and you scale it in the preprocess.py. But I think it is not correct because this value is the float number of a RGB value. For example 1.474481e-38 is 0x00A08E88, A0 for Red, 08 for Green and 88 for Blue. So it's a gray color.

[falcondai]

i remember that there was something tricky with the way depth was encoded in the ascii PCD files. In general, - you might already know this -, Kinect measures and stores depth in 16bit and there were numerous encoding schemes but the most common is to compress it into 8bit grayscale with loss of resolution. I remember that the implemented procedure gave me reasonable depth values.