Official PyTorch implementation of DD3D: Is Pseudo-Lidar needed for Monocular 3D Object detection? (ICCV 2021), Dennis Park*, Rares Ambrus*, Vitor Guizilini, Jie Li, and Adrien Gaidon.
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Box pose transfomation from camera 2 to velodyne may not be correct. #37
Hi, I found code at https://github.com/TRI-ML/dd3d/blob/86d8660c29612b79836dad9b6c39972ac2ca1557/tridet/data/datasets/kitti_3d/build.py#L260 may not be correct. If we want to get the box pose in the velodyne frame, I think the code may be box_pose = pose_0V.inverse() pose_02 box_pose. I am not sure if it is correct, so I hope you can double check, thank you!