pseudo-lidar coord

[ksh11023]

hello,

what's the difference between pseudo-lidar coodinate and Lidar coordinate?

Thankyou

[xy-guo]

Lidar coordinate system is aligned with raw LiDAR data.

Pseudo-lidar coordinate system is aligned with the left camera. The transformation between the image coordinate and the pseudo-lidar coordinate is a pure rotation as follows: [[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]

[ksh11023]

Thank you for the reply!

So, is Pseudo-Lidar coordinate in rectified camera coordinate?

I have one more question regarding processing raw LIDAR point cloud for the teacher model.

In stereo_kitti_dataset.py, After transforming point cloud(in lidar coordinate ) -> point cloud(in rectified lidar coordinate ) why is this flip_this_image process needed? I think it's multiplying -1 to the X-axis(forward for Lidar coord).

Thank you.

[xy-guo]

It is for augmentation when training.

[ksh11023]

Thank you!