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WangYueFt / detr3d

MIT License
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Why not use camera intrinsics when converting the point cloud coordinate system to the image coordinate system? #25

Open mayechi opened 2 years ago

a1600012888 commented 2 years ago

It is used.

a1600012888 commented 2 years ago

See: https://github.com/WangYueFt/detr3d/blob/main/projects/mmdet3d_plugin/datasets/nuscenes_dataset.py#L57

It is merged with the extrisincs to one projection matrix.

mayechi commented 2 years ago

I saw it, thank you.