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Megvii-BaseDetection / BEVDepth

Official code for BEVDepth.
MIT License
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Why sweep_lidar_info use calibrated_sensor_token of cam_data in gen_info ? #143

Open chao-SFD opened 1 year ago

chao-SFD commented 1 year ago

Dear authors, In the gen_info, the calibrated_sensor of sweep_lidar_info use the calibrated_sensor_token of 'CAM_FRONT_LEFT' at the farthest moment. The code at line 116 is: sweep_lidar_info['calibrated_sensor'] = nusc.get( 'calibrated_sensor', cam_data['calibrated_sensor_token']) Is the cam_data should be changed to sweep_lidar_data and use the calibrated_sensor_token of sweep_lidar_data?

I'm looking for your replay.Thanks.

chao-SFD commented 1 year ago

As the same, the ego_pose of sweep_cam_info use the ego_pose_token of cam_data(key frame), but not the sweep_cam_data. the code at line 80 is: sweep_cam_info['ego_pose'] = nusc.get( 'ego_pose', cam_data['ego_pose_token']) Is the cam_data should be changed to sweep_cam_data? I found the version of bevStereo at https://github.com/Megvii-BaseDetection/BEVStereo/blob/master/scripts/gen_info.py seems to be right.