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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Issue #73: Fix for export_kitti.py to account for ego pose differences in LIDAR and camera #75

Closed kylelee82 closed 4 years ago

kylelee82 commented 4 years ago

BACKGROUND

This PR fixes the KITTI conversion issue related to https://github.com/lyft/nuscenes-devkit/issues/73 for camera and LIDAR ego pose differences in the Lyft dataset, which directly affect 2D image bounding boxes in the post-converted KITTI labels.

Example (7dbbd3cba5220b616cd74d1ca0c4ad0b43ae4feb08dab84dcbbc5d7dfe9bb000):

[Without ego pose correction] Figure_1

[With ego pose correction] Figure_1 fixed

Testing: export_kitti.py was run on the Lyft dataset and visually checked for box alignment.

ternaus commented 4 years ago

@kylelee82 what is the state of the PR? Is it ready to be merged?

kylelee82 commented 4 years ago

@ternaus the changes are complete and should fix the issue indicated (test was done by running on the dataset). If there are any concerns with removing the assert I'd be happy to get that included somehow.