pseudo lidar coordinates

[czy341181]

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.

LIGA-Stereo/liga/datasets/kitti/stereo_kitti_dataset.py

Line 366 in aee3731

gt_boxes_lidar = box_utils.boxes3d_kitti_camera_to_lidar(

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]

LIGA-Stereo/liga/datasets/kitti/stereo_kitti_dataset.py

Line 367 in aee3731

gt_boxes_camera, calib, pseudo_lidar=True, pseudo_cam2_view=self.boxes_gt_in_cam2_view)

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

[xy-guo]

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]

got it, thanks for your timely reply