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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
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Why is SHIFT_COOR set to [0.0, 0.0, 1.6] in KITTI? #27

Closed betterwyl closed 8 months ago

betterwyl commented 10 months ago

Why is SHIFT_COOR set to [0.0, 0.0, 1.6] in KITTI ( [0.0, 0.0, 1.8] in nuscenes), and what is the rationale behind it? How should I modify it if I'm using my own dataset?

BOBrown commented 10 months ago

@betterwyl Hi, using SHIFT_COOR is due to that the installation height of sensors on different datasets (Waymo and KITTI and nuScenes) is inconsistent, further resulting in the inconsistent distribution of z-coordinates.

We have provided the the statistical results of z-coordinate in 3DTrans repo, please see KITTI nuScenes Waymo for Car

BOBrown commented 10 months ago

@betterwyl Specifically, we set SHIFT_COOR to [0.0, 0.0, 1.6] in KITTI, by subtracting the z-median between Waymo (0.81) and KITTI (-0.8)