Use on KITTI dataset labels

[a-akram-98]

Hello, I've a question, You assumed the coordinates x to left y to forward z to up, but I want to use it on KITTI labels, where the labels coordinates are like: x to left y to down z to forward and the rotation ry is around y-axis, so can you help me to figure it out, will I switch the order of the input to the cal_iou_3d or what !?

[lilanxiao]

All you need is a coordinates transformation. Suppose the KITTI label is a tuple (x, y, z, a, b, c, alpha), the tuple for IoU calculation should be (x, z, -y, a, c, b, -alpha). You could write a wrapper to do the transformation.

[vehxianfish]

@lilanxiao ,hi.thanks for your great work,it's help me a lot. In the repository, Is the coordinates' orientation like@a-akram-98 said? x to left y to forward z to up,and rotation ry is around z axis and Clockwise.
thank you!

[lilanxiao]

@lilanxiao ,hi.thanks for your great work,it's help me a lot. In the repository, Is the coordinates' orientation like@a-akram-98 said? x to left y to forward z to up,and rotation ry is around z axis and Clockwise.
thank you!

hi! I use a right-handed coordinate system. x, y, z are left, forward and up, respectively. The rotation is around the z-axis. The rotation direction follows the right-hand rule.

[turboxin]

@lilanxiao ,hi.thanks for your great work,it's help me a lot. In the repository, Is the coordinates' orientation like@a-akram-98 said? x to left y to forward z to up,and rotation ry is around z axis and Clockwise.
thank you!

hi! I use a right-handed coordinate system. x, y, z are left, forward and up, respectively. The rotation is around the z-axis. The rotation direction follows the right-hand rule.

Hi @lilanxiao, as you mentioned above a right-handed coordinate system is used, but x-left, y-forward , z-up seems not a right-handed coordinate system. I'm wondering if there is any mistake or misunderstanding here?

[lilanxiao]

hi @turboxin! Sorry, that's my mistake. The x-axis is actually right, not left.

[linchunmian]

Hi, everyone. I also want to apply it to KITTI labels.How to write the transformation script?

[XiaoyanQian]

Hi, everyone. I also want to apply it to KITTI labels.How to write the transformation script?