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Can I change the lidar coordinate to camera coordinate? #75
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Yup you can change to camera coordinates, and the network should work the same. Just as you mentioned you would have to change LiDAR coordinate specific settings like voxel and anchor settings. These would need to be adjusted anyway for different datasets. |
The code in the Frustum Grid Generator assumes you transform to the LiDAR coordinates, so you will need to remove the LiDAR-Camera transformation in this file. |
Hi, from pcdet.utils import transform_utils, grid_utils, depth_utils class FrustumGridGenerator(nn.Module):
` |
Did you adjust the voxel grid settings in the dataset_config file? You need to adjust that to match the new coordinate system. |
Hi,
I have eight camera data. The 3D lable is similar to KITTI style, it is based on camera coordinate.
I think the network would be confused if converted to lidar coordinate.
But, the generated voxel and anchors setting are based on lidar coordinate.
What can I do to change the code based on camera coordinate?
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