Open ruiiu opened 2 months ago
It is because pygame coordinate is different from world coordinate (x,y are swapped), while the pc_to_car_alignment is doing 1. swap x, y 2. make the lidar upside down. Let me know if it causes any issues running the experiments - I know it is lame, so I am fixing it in the new version of the project.
Thanks for sharing the code. I have a question:
I am using open3d to visualize the lidar data. If doing the following transform of the lidar point cloud in
point_transformer_loader.py,
the point cloud data looks different from the generated video0_0_hud_info.mp4
in the bird eye view that the car is driving,if i only do
lidar[:,1] = -lidar[:,1],
but not dopc_to_car_alignment,
the view looks consistent as in the hud_info video.