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MCG-NJU / SparseBEV

[ICCV 2023] SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos
https://arxiv.org/abs/2308.09244
MIT License
306 stars 21 forks source link

Where in the code do you handle ego motion? #43

Closed Slonna closed 7 months ago

Slonna commented 7 months ago

Dear author Wonderful work! Where in the code do you handle ego motion? I can't find it. It seems that after moving the sampling points with velocity, it directly uses the lidar2img matrix to project points

afterthat97 commented 7 months ago

Ego motion is integrated into lidar2img during data loading:

https://github.com/MCG-NJU/SparseBEV/blob/4d028e960fba5b3aa4fe5bb1170d9b21505a8d39/loaders/pipelines/loading.py#L9-L32

Slonna commented 7 months ago

Thanks for your quick rely! I got it.