search

PJLab-ADG / 3DTrans

An open-source codebase for exploring autonomous driving pre-training
https://bobrown.github.io/Team_3DTrans.github.io/
Apache License 2.0
585 stars 72 forks source link

Where is the key codes about Coordinate-origin Alignment #11

Closed zheng0819 closed 1 year ago

zheng0819 commented 1 year ago

Hello, I want to debug the codes to Better understand the paper Uni3D. However, I can not find the key codes about Coordinate-origin Alignment mentioned in Uni3D. I found that the batch_info of two datasets are directly concatenated together as batch1 and batch2, without Coordinate-origin Alignment(Maybe I miss the code). Could you please tell me where are the key codes about Coordinate-origin Alignment? Thanks a lot!

BOBrown commented 1 year ago

Thanks for your attention. @zheng0819

We use the Z-shift of points from different sensor setting. And for waymo+nuscenes merging setting, we consider align point-cloud range to the [-75.2, -75.2, -2, 75.2, 75.2, 4], which is consistent with that in waymo sensor.

And we achieve the Z-shift by the following code: https://github.com/PJLab-ADG/3DTrans/blob/d4962028c4762f1cfeac2c851cd2eea35800956e/pcdet/datasets/nuscenes/nuscenes_dataset.py#L160

You can activate such setting by adding the code in config yaml as follows: SHIFT_COOR: [0.0, 0.0, 1.8]