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junjie18 / CMT

[ICCV 2023] Cross Modal Transformer: Towards Fast and Robust 3D Object Detection
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变换矩阵 #63

Open SISTMrL opened 11 months ago

SISTMrL commented 11 months ago

image 你好，我对这个求lidar到cam的变换矩阵不理解，为啥不直接先写出cam到lidar的变换矩阵[[r,t], [0, 1]]，然后直接求逆呢

SISTMrL commented 11 months ago

我想把点云投影到图像上，但是用了lidar2img_rt发现depth都是小于0 image