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cmpute / chainer-voxelnet Goto Github PK
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VoxelNet implemented in chainer
How come you do not also multiply by inv(R0_rect)
here? Are the bounding box (x, y, z) centers given in reference camera coordinates or rectified camera coordinates? I could not tell from the kitti_readme.txt they provide. The other popular VoxelNet implementation by @jeasinema uses inv(Tr) * inv(R0_rect) * point
. Let me know, thanks!
Edit: I think your implementation is correct. I plotted the points and it seems that the label_2 ground truth is given in the reference camera coordinates.
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