Does compute_range_image_polar and compute_range_image_cartesian return vehicle frame?

[skaae]

Does compute_range_image_polar and compute_range_image_cartesian return range images in vehicle frame?

I assume it does because in the tutorial extract_point_cloud_from_range_image is called with an extrinsic transform that is from lidar frame to vehicle frame:

waymo-open-dataset/waymo_open_dataset/utils/frame_utils.py

Lines 131 to 147 in 60df55a

	extrinsic = np.reshape(np.array(c.extrinsic.transform), [4, 4])
	range_image_tensor = tf.reshape(
	tf.convert_to_tensor(range_image.data), range_image.shape.dims)
	pixel_pose_local = None
	frame_pose_local = None
	if c.name == dataset_pb2.LaserName.TOP:
	pixel_pose_local = range_image_top_pose_tensor
	pixel_pose_local = tf.expand_dims(pixel_pose_local, axis=0)
	frame_pose_local = tf.expand_dims(frame_pose, axis=0)
	range_image_mask = range_image_tensor[..., 0] > 0
	range_image_cartesian = range_image_utils.extract_point_cloud_from_range_image(
	tf.expand_dims(range_image_tensor[..., 0], axis=0),
	tf.expand_dims(extrinsic, axis=0),
	tf.expand_dims(tf.convert_to_tensor(beam_inclinations), axis=0),
	pixel_pose=pixel_pose_local,
	frame_pose=frame_pose_local)

In the docs for compute_range_image_cartesian it says that it expect the range image in polar coordinates to be in sensor frame?

[peisun1115]

compute_range_image_polar return coordinates in sensor frame.
compute_range_image_cartesian returns coordinates in vehicle frame.