How to implement "coordinates of points and boxes are all transformed to the current frame" in FSD++?

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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Open rXYZkit opened 5 months ago

rXYZkit commented 5 months ago

def get_old_points(): coordinates of points and boxes are all transformed to the current frame

Could you tell me in which part of the code it was implemented

Thanks very much