Comments (14)
@pyaf Sorry for my belated clarification. I ignored the transformation of the coordinate system at that time, and in fact the BOX given is the same. I'm sorry very much.
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For anyone who's interested in transformation, can update the line as below if wanna convert KITTI format.
kitti_to_nu_lidar = Quaternion(axis=(0, 0, 1), angle=np.pi)
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Thank you so much for pointing this out. I am also doing the kitti format conversion. Is there anything else I should pay attention to?
I replaced most of the self.nusc class in export_kitti.py with class provided by lyft. Does this work?
Edit: I found that the center provided by get-box in the two SDK is different, so I replaced it.
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So do your experiments show that the LiDAR axis definition in lyft data is "x-back, y-right, z-up"? @bmankirLinker
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That transformation definition makes the https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/scripts/export_kitti.py#L153 assertion pass. However after converting the PCD and GTs accordingly, GT and the image don't match. And also training with PRCNN
also gives bad results, unlike NuScenes
. So apparently I'm missing some stuff as well but unfortunately, hope an update will come.
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Oh, I can comment an assertion without modifying the axis definition, which seems to get the correct visualization, use the render module in the script. @bmankirLinker
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Maybe some functions are not affected by its axis definition, but we are indeed encountered bugs when inferencing orientations of objects by using some models adapted from NuScenes/KITTI. BTW, @joinssmith do you know the clear definition of LiDAR in Lyft dataset?
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@Tai-Wang Sorry, I don't know.
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@joinssmith so you've used the same transformation as in NuScenes, but also updated z of cuboid GT based on definition?
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All right, hope an update...Thanks all the same~
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Just found out:
KITTI lidar frame is 90 degrees rotated from nuScenes lidar frame
here
So, kitti_to_nu_lidar = Quaternion(axis=(0, 0, 1), angle=np.pi / 2)
makes sense.
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I can confirm two things:
-
kitti_to_nu_lidar = Quaternion(axis=(0, 0, 1), angle=np.pi / 2)
and with noassert (velo_to_cam_rot.round(0) == np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]])).all()
gives perfectly transformed boxes in KITTI format but 90 degrees rotated x-y axes. -
kitti_to_nu_lidar = Quaternion(axis=(0, 0, 1), angle=np.pi)
and withassert (velo_to_cam_rot.round(0) == np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]])).all()
gives perfectly aligned axes, but 90 degrees horizontally-off boxes.
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@joinssmith
Edit: I found that the center provided by get-box in the two SDK is different, so I replaced it.
Could you please tell me what exactly is different in them?
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@joinssmith there's nothing to be sorry about :)
The thing is if we could swap x and y axes, we'd be able to fix this issue.
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Related Issues (20)
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