previous frame transformed to current frame?

[HuangVictorAuto]

Thanks for your great work and opensource, I have a question about the coordinate transformation. I have checked the code, you have transformed the previous pointclouds to current frame coordinate during training, right?

if sweep["transform_matrix"] is not None:
        points_sweep[:3, :] = sweep["transform_matrix"].dot( 
            np.vstack((points_sweep[:3, :], np.ones(nbr_points)))
        )[:3, :]

But in deployment inference, we will just save and use previous featuremap in the memory bank, and the feature map has not transformed to current frame. So there is a gap here.

Please correct me, if I am wrong, thanks!

[DurbinLiu]

Hi, I have the same idea, have u solved this problem?