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

788 stars 100 forks source link

Open rXYZkit opened 4 months ago

rXYZkit commented 4 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