LiDAR plane and ground plane mismatch

[sharma-n]

Hi,
Thanks a lot for the code it's been helping me a lot with my work! I just noticed something in the data I collected using your code. If the ground/road is tilted at an angle, the bounding boxes have a offset from the real object. The farther that object is, the greater this offset. I have attached an image below that shows this. Is this something that you noticed as well? What might be causing this? Is there a way to fix it?

[bradenhurl]

Always good to hear! I didn't notice this during my research. Is this with a modified version of the code base? It seems strange that this is happening as all objects should be positioned relative to the camera, and the LiDAR is generated from the camera position as well.

• Can you set up a stationary scene where this is reproducible? If you can't reproduce this in a stationary scene it may be that the camera image is slightly off in time from the object positioning.
• If the camera image is slightly off in time from the object position it may be due to the hook to grab the image/depth map. I noticed some differences between different GPUs I used, the final version was tested with a 1080GTX Ti.