pengsongyou / openscene

[CVPR'23] OpenScene: 3D Scene Understanding with Open Vocabularies
https://pengsongyou.github.io/openscene
Apache License 2.0
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Multiview feature fusion in nuscenes: camera pose #87

Open trayOWO opened 3 months ago

trayOWO commented 3 months ago

Hi, I'm trying to do multi-view fusion 2D fusion on occ3d-nuscene dataset, generating point query(with coordinate -1~1) as lidar point reference.

When preprocessed 2d data, I found that there's no data file "pose" for camera pose parameter(4 x 4), so I used extrinsic: translation(3) and rotation(4) to do multiview fusion, but it resulted that no any point can be projected on image(dim: 800 x 450).

May I ask how to get the pose data(4 x 4) for nuscenes image?

Note: I found it's different between occ3d-nuscene's frame token and nuscene_2d you provide 's frame token, so I couldn't use the camera parameter from nuscene_2d directly.

Thanks.

stickygao commented 2 months ago

i am doing the same thing, do you solve it?