Thank you for your excellent work. I would like to use CTRL to label my own collected data, and I have a few questions for you: 1. I would like to know if CTRL has any format requirements for the input LiDAR data, is it 4D x,y,z, and intensity?
2. when using CTRL to annotate customized data, do I need to pre-train the model on the customized data, for example, do I need to generalize CTRL on the customized data?