In file kitti_pc_bin_to_npz_in_img_frame.py and kitti_pc_bin_to_npy_with_downsample_sn.py, open3d.geometry.voxel_down_sample(), open3d.geometry.estimate_normals() and open3d.geometry.orient_normals_to_align_with_direction() is used but these APIs are now replaced by 'pcd.voxel_down_sample()', 'pcd.estimated_normals()' and pcd.orient_normals_to_align_with_direction(), which may cause errors if you use the pip install open3d to install open3d. However in file frame_accumulation.py, the newest API is used.
In file
kitti_pc_bin_to_npz_in_img_frame.pyandkitti_pc_bin_to_npy_with_downsample_sn.py,open3d.geometry.voxel_down_sample(),open3d.geometry.estimate_normals()andopen3d.geometry.orient_normals_to_align_with_direction()is used but these APIs are now replaced by 'pcd.voxel_down_sample()', 'pcd.estimated_normals()' andpcd.orient_normals_to_align_with_direction(), which may cause errors if you use thepip install open3dto install open3d. However in file frame_accumulation.py, the newest API is used.