What is the origin of ego coordinate system? about pandaset-devkit HOT 5 OPEN

We can temporarily provide raw data of Pandar64 and a instruction of the raw data
PandaSet Raw Data Instructions.pdf.
The raw data can be download at
https://drive.google.com/drive/folders/1ou_HqaQq0rGR0UrGZkFYWrE3mCJDosX8?usp=sharing

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It would also be helpful if the data could be provided as raw data, i.e. in sensor coordinates without any motion compensation in the point cloud.

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Would it be possible to also provide the raw data of the Pandar GT in a similar way? There are algorithms that work better and more efficiently on an organised point cloud, i.e a depth image, than on an unorganised point cloud.

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I am also interested in this question. For many semantic segmentation networks, we use cylindrical depth projections. Therefore, it is important to know whether these are vehicle coordinates or sensor coordinates and/or how to transform between these coordinate systems.

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It would also be helpful if the data could be provided as raw data, i.e. in sensor coordinates without any motion compensation in the point cloud.

It would also help here #69

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