Clarification on Radar Point Cloud Velocity Compensation Calculation

[yangyiqiao]

Hello! Regarding the velocity information in radar point clouds, based on the code and closed issues, I understand that vx_comp and vy_comp are computed through ego-motion compensation (which should be post-processing rather than directly from radar sensor measurements). Could you provide the specific steps or code snippet in your implementation that derives vx_comp and vy_comp from raw vx and vy? Thank you!