Comments (5)
@emilyemliyM an example of how to transform a point cloud from some time tn to t0 can be found here:
Modifying it to work for transforming a point cloud from from tn to some other time tm should be relatively trivial - in particular, you would need to get ref_from_car
and car_from_global
from tm (rather than t0)
from nuscenes-devkit.
@emilyemliyM an example of how to transform a point cloud from some time tn to t0 can be found here:
Modifying it to work for transforming a point cloud from from tn to some other time tm should be relatively trivial - in particular, you would need to get
ref_from_car
andcar_from_global
from tm (rather than t0)
Hi, really thanks to the reply.
I have another question about the param in the setting:
what's the meaning of the "ref_chan"? Does it mean "Lidar" string or a token , or anything else? How to use it?
Could I have an example of the use of the function?
from nuscenes-devkit.
@emilyemliyM the input for ref_chan
would be the sensor name (as a str
) you want to map the point clouds to (e.g. LIDAR_TOP
, RADAR_FRONT
)
You can see an example usage here:
nuscenes-devkit/python-sdk/nuscenes/nuscenes.py
Line 1293 in 9bc2f9e
from nuscenes-devkit.
@emilyemliyM an example of how to transform a point cloud from some time tn to t0 can be found here:
Modifying it to work for transforming a point cloud from from tn to some other time tm should be relatively trivial - in particular, you would need to get
ref_from_car
andcar_from_global
from tm (rather than t0)
Thanks for the reply!
I want to know that does this method work for two keyframes of point cloud data as well? I want to conduct the coordinate transform between two key frames.
Thanks !
from nuscenes-devkit.
Yes, it should work for two keyframes, as long as your provide the appropriate transformation matrices
from nuscenes-devkit.
Related Issues (20)
- Memory Requirement - Reg HOT 3
- Coordinate system of radar point cloud and velocity information? HOT 1
- About coordinate and box_velocity HOT 4
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- translation matrix for camera sensors is with respect to the center of the rear axle? HOT 2
- How the point cloud semantically segmented file is encoded? HOT 1
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- Alignment of multi-frame radar dynamic object data HOT 5
- When v1.1.13 will be released in PyPI ? HOT 2
- pip install failed HOT 5
- nuScenes-lidar Annotation file HOT 1
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