OpenPCDet training dataset about crlfnet HOT 4 CLOSED

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Hello, do you mean this

from crlfnet.

Hello, do you mean this

CRLFnet/src/site_model/src/LidCamFusion/OpenPCDet/pcdet/datasets/custom/custom_dataset.py

Lines 116 to 128 in 9616256

	def get_calib(self, loc):
	"""
	This calibration is different from the kitti dataset.
	The transform formual of labelCloud: ROOT/labelCloud/io/labels/kitti.py: import labels
	if self.transformed:
	centroid = centroid[2], -centroid[0], centroid[1] - 2.3
	dimensions = [float(v) for v in line_elements[8:11]]
	if self.transformed:
	dimensions = dimensions[2], dimensions[1], dimensions[0]
	bbox = BBox(*centroid, *dimensions)
	"""
	loc_lidar = np.concatenate([np.array((float(loc_obj[2]), float(-loc_obj[0]), float(loc_obj[1]-2.3)), dtype=np.float32).reshape(1,3) for loc_obj in loc])
	return loc_lidar

?
If so, you should find out the transformation of coordinates in your annotation tool point_cloud_annoatation_tool, and sorry about I'm not familiar with that tool. If the code for this tool is open source then it'll be easy to get the transformation, if not, maybe ask for help to whom are familiar with it.
The annotation tool I used is pushed to github so I can find out easily.

Thanks for your reply, that's what I wanted to ask.

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