Hi !
Thanks for your great work.
I have a question about the code snippet for mapping the bounding boxes to the local sensor coordinate
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# caused by coordinate inconsistency of nuscene-toolkit |
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box.center[0] = - box.center[0] |
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# debug |
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shift = [box.center[0], box.center[1], box.center[2]] |
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box.translate(-np.array(shift)) |
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box.rotate(Quaternion([0, 1, 0, 0]).inverse) |
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box.translate(np.array(shift)) |
Could you please tell me why it needs the code in detail. Thanks a lot!
Hi !
Thanks for your great work.
I have a question about the code snippet for mapping the bounding boxes to the local sensor coordinate
coperception/coperception/utils/nuscenes_pc_util.py
Lines 435 to 442 in 7e99052
Could you please tell me why it needs the code in detail. Thanks a lot!