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Preprocessing Library

TUM Autonomous Motorsport package for preprocessing

Implemented Preprocessing Formats

  1. General Preprocessing Functionalities:

    • Crop Filter: Apply spatial cropping based on the distance of a point from the origin given a minimum and maximum range

    • Crop Footprint: Apply spatial cropping based on the x- and y-coordinate of a point given the longitudinal and lateral size of the vehicle footprint

  2. LiDAR Preprocessing:

    • the default preprocessing for dense LiDAR scans
    • applies only the general functionalities above (range crop, then vehicle-footprint crop) and requires no sensor-specific point attributes
    • available as a CPU implementation and a CUDA variant (CUDA_LIDAR) that runs the same crops on the GPU