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关于ego坐标系的时间 #354

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WangJian981002 opened this issue Jun 29, 2024 · 0 comments
Open

关于ego坐标系的时间 #354

WangJian981002 opened this issue Jun 29, 2024 · 0 comments

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@WangJian981002
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WangJian981002 commented Jun 29, 2024 •
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Hi, 感谢您精彩的工作
在dev3.0仓库我发现一个小bug，不知道理解的对不对。
当前3D检测均在CAM_FRONT时刻下的ego坐标系下进行，而当前在prepare_input的时候，sensor2keyegos中的keyego是由CAM_FRONT_LEFT时刻所确定的：
微信图片_20240629104143
因为index为0的相机是CAM_FRONT_LEFT

但是由于CAM_FRONT和CAM_FRONT_LEFT的触发时间很近，这两个ego坐标系几乎重合，所以在现有仓库下仍得到了合理的性能。不知道我理解的对否，感谢您的回复！

祝好
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