perception：input of pointpillars

[WSTao]

Hi, what is the coordinate system of pointpillars input point cloud in perception, what is the orientation of xyz, and the intensity range is [0,1] or [0,255], thank you very much!

[chasingw]

it seems not use intensity in point_pillars_detection.cc https://github.com/ApolloAuto/apollo/blob/51c73d32deda3f79807f482313a0d4461eee8679/modules/perception/lidar/lib/detection/lidar_point_pillars/point_pillars_detection.cc#L137-L151 but in test code, it use intensity and norm to [0,1] https://github.com/ApolloAuto/apollo/blob/51c73d32deda3f79807f482313a0d4461eee8679/modules/perception/lidar/lib/detection/lidar_point_pillars/point_pillars_test.cc#L222-L233

[jeroldchen]

@WSTao It's a right-hand coordinate system setting lidar sensor as the origin. Positive x-axis points to the front of the car, positive y-axis to the left and positive z-axis to the top. Intensity range of the raw point cloud from lidar sensor is [0, 255], but in the preprocessing, the range is normalized to [0, 1].

[chasingw]

@jeroldchen hello, why in point_pillars_detection.cc, it seems not use intensity but use delta of timestamp which is 0 if kFuseFrames = false

[jeroldchen]

@chasingw Hi, we will update the models to include intensity in input very soon. Unit test will also be updated. Thank you for following.

[chasingw]

@jeroldchen thanks for yout quick reply

[jeroldchen]

Hi @WSTao , hope our answer resolved your question. We will close the issue for now. If you have any additional question, please feel free to open a new issue. Our engineer team are more than happy to help that.

Thank you for supporting Apollo!