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rts2proj Bug? #97

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frkmac3 opened this issue Mar 3, 2025 · 0 comments

frkmac3 commented Mar 3, 2025 •

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Fast-BEV/mmdet3d/datasets/pipelines/transforms_3d.py

Line 1858 in 9de045a

return lidar2img_rt.astype(np.float32)

hi, you get lidar2img_rt here, where lidar2img_rt equal to intrinsic @ lidar2cam_rt.T) ; why you treat it as camera extrinsics as the following?

Fast-BEV/mmdet3d/datasets/pipelines/transforms_3d.py

Line 1710 in 65c4722

results['lidar2img']['extrinsic'] = aug_extrinsics

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