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export_kitti.py - Camera and lidar do not have the same ego pose #73
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Can confirm. In each sample, lidar and camera records refer to different
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@megaserg In the example above, do you happen to know if the If the tokens are distinct and yet have the same timestamp, then it sounds like the Lyft dataset itself might be "broken." (Could be patched through code though). |
@pwais yes, the |
oof! thanks for confirming @megaserg |
…s in LIDAR and camera (#75) * add transformations to fix lidar-cam sync for export_kitti only * minor syntax cleanup * remove negative check for transform
ISSUE
Currently in
export_kitti.py
the following transformation is incorrect:Unlike nuscenes (which I didn't check, but I believe to be correct), the camera and lidar ego poses for this dataset are not the same. The effect of the code is above is that if you use the RGB camera images with projected labels from lidar the boxes will be randomly off by 10-20 pixels, which is problematic for any sort of 2D learning.
To correct this, two additional transformations are needed to convert to / from world pose for both lidar and camera.
Additionally, if I recall, the
render
function does not have the same issue as this KITTI converter.Related PR: #75
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