Tai-Wang
commented
1 year ago From our experience, it will not affect the performance a lot, the error caused by the common projection and the waymo optimized version is also minor. Nevertheless, I agree with you that using the official optimized one would be better. It will be better if you can share any experience about it.
for waymo dataset's lidar saving, why not saving the image position which is cp_points in code for each lidar point, as waymo not only use calibration to convert lidar point to image plane, they have some optimization in waymo-open-dataset repo, I just think use the origin point-to-pixel projection is more accurate，not use calib matrix.