Is it reasonable to predict the point cloud from the ego origin? about vidar

[tomztyang]

Great point!

We did not consider this when CVPR 2024 submission, due to at that time, we mainly considered the downstream performance.

This is actually a big issue in the current codebase for rendering point cloud, due to the miss aligned ego pose and lidar sensor pose. However, to align with our CVPR version, we decide not to modify this when publishing the code.

During training or testing on OpenScene, you can manually adjust the origin of rendering to something like [0, 0, 1.6m] instead of [0, 0, 0] (as the original code) to avoid this issue. But I am not sure how to deal with it for private_test, maybe some alignment of the origin (since in private_test, the rays also start from the origin)?

Thanks,
Zetong