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YTEP-ZHI avatar YTEP-ZHI commented on July 20, 2024

image

Thanks for your interest. The motion gts are all in lidar coordinate, the same as 3d gt_bboxes.

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exiawsh avatar exiawsh commented on July 20, 2024

So the network output trajectory should be in the lidar coordinate of other vehicles, is that right?

traj_ego[kk] = convert_local_coords_to_global(

Is the operation here to transform the trajectory (in other vehilce lidar) back to the ego lidar coordinate?

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exiawsh avatar exiawsh commented on July 20, 2024

image

Thanks for your interest. The motion gts are all in lidar coordinate, the same as 3d gt_bboxes.

I think my understanding above is correct. Thank you!

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