What's the definition of the coordinate when the argoverse dataset transform to kitti format?

tusen-ai / SST

Code for a series of work in LiDAR perception, including SST (CVPR 22), FSD (NeurIPS 22), FSD++ (TPAMI 23), FSDv2, and CTRL (ICCV 23, oral).

Apache License 2.0

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What's the definition of the coordinate when the argoverse dataset transform to kitti format? #154

Closed rockywind closed 6 months ago

rockywind commented 10 months ago

Hi, thank you for sharing the great work! I am confuse the definition of coordinate and the yaw transform. The xyz is the 3D box center on kitti lidar coordinate or not? Why need the yaw transform?

Abyssaledge commented 10 months ago

Here we convert the box format to LiDARInstance3DBboxes. It is hard to explain the details. But all transformations serve the same purpose to suit LiDARInstance3DBoxes.

rockywind commented 6 months ago

thanks a lot.