In kitti_pc_img_pose_loader.py file,line 296,the transformation matrix was written as:
Pc = np.dot(self.calib_helper.get_matrix(seq, img_key), self.calib_helper.get_matrix(seq, 'Tr'))
In my view,this matrix only works in function "search_for_accumulation".
To transform pcs from timestamp j to timestamp i ,it is a little strange to :
transforming pcs into camera 0
translation from camera 0 to camera i
pose transforming.
...
Although camera i is parallel to camera 0 so there is no problem in your code,why not just throw away the translation step(2)？
It is confusing...
In kitti_pc_img_pose_loader.py file,line 296,the transformation matrix was written as:
Pc = np.dot(self.calib_helper.get_matrix(seq, img_key), self.calib_helper.get_matrix(seq, 'Tr'))In my view,this matrix only works in function "search_for_accumulation". To transform pcs from timestamp j to timestamp i ,it is a little strange to :