Camera to lidar transform of KITTI rotation - Githubissues

V2AI / Det3D

World's first general purpose 3D object detection codebse.

https://arxiv.org/abs/1908.09492

Apache License 2.0

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Camera to lidar transform of KITTI rotation #118

Open afroowoo opened 4 years ago

afroowoo commented 4 years ago

Hi, when reading a KITTI label, it is converted from camera to lidar coordinates with:

https://github.com/poodarchu/Det3D/blob/9fca2d94e4a138b6a2cd5d3fe4f4de38eb760306/det3d/core/bbox/box_np_ops.py#L925-L930

In this code, shouldn't the rotation also be converted from camera to lidar coordinates, for example r_lidar = r_camera @ r_rect @ velo2cam?

Skipping this transform causes a small rotational misalignment of the ground truth. Is this intended?