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Confused with coordinate of 3D box #23

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kaiopen opened this issue May 30, 2019 · 0 comments
Open

Confused with coordinate of 3D box #23

kaiopen opened this issue May 30, 2019 · 0 comments

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@kaiopen
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kaiopen commented May 30, 2019

The function boxed_cam_to_velo in file "utils.py" projects the position of ground truth 3D bounding box to velo coordinate just with calibration matrix Tr_velo_to_cam. Does that mean the position is in camera 0 coordinate rather than rectified camera 0 coordinate? I have read some codes, such pointnet and frustum pointnets, which consider the position in rectified camera 0 coordinate.
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