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lyft / nuscenes-devkit

Devkit for the public 2019 Lyft Level 5 AV Dataset (fork of https://github.com/nutonomy/nuscenes-devkit)
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Front LiDAR point cloud incorrectly rendered in tutorial? #44

Closed opoppo closed 4 years ago

opoppo commented 4 years ago

下载 In the jupyter notebook tutorial, it seems that the point cloud from both LIDAR_FRONT_RIGHT and LIDAR_FRONT_LEFT do not match the annotated boxes. From the example rendered picture above, it looks like the point clouds are somehow flipped with respect to a 45° or 135° axis, but even after i flip them back, the point cloud still suffer from distortions.
22 33 Guessing the transformation between coordinates or calibration parameters got some minor bugs there? Any suggestions?

rkesten commented 4 years ago

Thank you for flagging this! The issue does not occur anymore with the v1.02 dataset (which is used in the Kaggle competition). Therefore, I'm closing the issue.