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xy-guo / LIGA-Stereo

Code for LIGA-Stereo Detector, ICCV'21
Apache License 2.0
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pseudo lidar coordinates #2

Closed czy341181 closed 2 years ago

czy341181 commented 2 years ago

Hi, thanks for your great work! I have a question about the coordinate system.

I notice that in the stereo_kitti_dataset.py file， there is the introduction of a pseudo-lidar coordinate system.

https://github.com/xy-guo/LIGA-Stereo/blob/aee3731a24a0ab1667e633e520cc89be2f135272/liga/datasets/kitti/stereo_kitti_dataset.py#L366

I would like to know why this function is not rect_to_lidar, but rect_to_lidar_pseudo? Is there any difference in labelling between double and single purpose?

czy341181 commented 2 years ago

https://github.com/xy-guo/LIGA-Stereo/blob/aee3731a24a0ab1667e633e520cc89be2f135272/liga/datasets/kitti/stereo_kitti_dataset.py#L367

pseudo_lidar=True， this function is not rect_to_lidar, but rect_to_lidar_pseudo?

xy-guo commented 2 years ago

By default, stereo-based 3D detection will construct data in camera view. The reason for using pseudo lidar coordinate is purely for compatibility and engineering tricks. Of course, you can convert all data into LiDAR-view. The only thing you need to do is to make sure the stereo features and the LiDAR features share the same coordinate system.

czy341181 commented 2 years ago

got it, thanks for your timely reply