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Questions about the coordinate axis #121

Open Joeless opened 2 years ago

Joeless commented 2 years ago

@mmattar @xpchuan-95 @malcolmgreaves @rickyrauch @brwillia @nisseknudsen Hi~ I read the paper [https://arxiv.org/pdf/2112.12610.pdf ] I think it is a mistake about Fig 1.(a) Sensor placement In this figure, the car faces to the right, but the positive direction of the Y-axis of the lidar faces back Where is the origin of the world coordinate axis you mentioned? Where is it located on the vehicle? The point cloud in frame 0 takes this coordinate axis as the origin, but the values of Y-axis and x-axis of lidar are positive, which is impossible for panderGT I think the x-axis direction of solid-state lidar should be both positive and negative Can you give the correct definition of the coordinate system? I think the point clouds of these two lidars are calibrated to a unified coordinate system. Where is the origin of this coordinate system? Thanks~

Leozyc-waseda commented 2 years ago

Hi, I am also very confused about this problem, but I successfully converted the coordinates of Pandaset to the standard coordinates of openpcdet using this ego coordinate system, which works well.

https://github.com/open-mmlab/OpenPCDet/blob/e1bfcecbf4966fe417bf56fa60d6e177a1909724/pcdet/datasets/pandaset/pandaset_dataset.py#L171-L180

hope this helps.

Joeless commented 2 years ago

Hi, I am also very confused about this problem, but I successfully converted the coordinates of Pandaset to the standard coordinates of openpcdet using this ego coordinate system, which works well.

https://github.com/open-mmlab/OpenPCDet/blob/e1bfcecbf4966fe417bf56fa60d6e177a1909724/pcdet/datasets/pandaset/pandaset_dataset.py#L171-L180

hope this helps.

Thank you a thousand times~