Issue #73: Fix for export_kitti.py to account for ego pose differences in LIDAR and camera - #75
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@kylelee82 what is the state of the PR? Is it ready to be merged? |
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@ternaus the changes are complete and should fix the issue indicated (test was done by running on the dataset). If there are any concerns with removing the |
ternaus
approved these changes
Dec 3, 2019
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BACKGROUND
This PR fixes the KITTI conversion issue related to #73 for camera and LIDAR ego pose differences in the Lyft dataset, which directly affect 2D image bounding boxes in the post-converted KITTI labels.
Example (7dbbd3cba5220b616cd74d1ca0c4ad0b43ae4feb08dab84dcbbc5d7dfe9bb000):
[Without ego pose correction]
[With ego pose correction]
Testing:
export_kitti.pywas run on the Lyft dataset and visually checked for box alignment.