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Sense-GVT / Fast-BEV

Fast-BEV: A Fast and Strong Bird’s-Eye View Perception Baseline
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时序对齐问题？ #41

Open ningerlove opened 1 year ago

ningerlove commented 1 year ago

np.linalg.inv(lidar2ego) @ np.linalg.inv(egocurr2global) @ egoadj2global @ lidar2ego 这句代码中 np.linalg.inv(lidar2ego)和lidar2ego的含义是，为啥在前面加 np.linalg.inv(lidar2ego)和为啥在后面加lidar2ego

fengguibinyn commented 1 year ago

可以自己推一下，这里算得应该是，相邻帧到当前帧的映射，不同帧只是ego2global不同，lidar2ego是相同的