Problem with rotation format in export_kitti.py

[ForceQuell]

I'm trying to convert NuScenes (v1.0-mini) dataset into Kitti format. I just set up env. and lyft_dataset_sdk and run something like that: lyft_dataset_sdk nuscenes_gt_to_kitti --lyft_dataroot ~/nuscenes --table_folder ~/nuscenes/v1.0-mini using PyCharm. And get error:

assert (velo_to_cam_rot.round(0) == expected_kitti_velo_to_cam_rot).all(), velo_to_cam_rot.round(0)
AssertionError: [[-1. -0.  0.]
 [-0. -0. -1.]
 [ 0. -1.  0.]]

The exception is called from that place :

# Check that the rotation has the same format as in KITTI.
if self.lyft_ds.get("sensor", cs_record_cam["sensor_token"])["channel"] == "CAM_FRONT":
    expected_kitti_velo_to_cam_rot = np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]])
    assert (velo_to_cam_rot.round(0) == expected_kitti_velo_to_cam_rot).all(), velo_to_cam_rot.round(0)
assert (velo_to_cam_trans[1:3] < 0).all()

What does Check that the rotation has the same format as in KITTI mean, and why we want to check it?

[psriram2]

+1

[psriram2]

@ForceQuell did you ever figure this issue out?

[shanxiaojun]

@psriram2 did you ever figure this issue out?

[psriram2]

No, I ended up just commenting out the assertion check and it seemed to work fine @Quantum-matrix