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[Fix] fix wrong coordinate transform in sweep loading #3007

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windhw wants to merge 1 commit into open-mmlab:main from windhw:fix_sweep_loading

windhw commented Jul 10, 2024 •

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Motivation

Fix wrong coordinate transform in sweep loading， the wrong transform caused bad input for model, especially when rotation is large

Modification

the sensor to lidar transform is
Y = X @ Rt + T

so the reverse transform should be:

X= (Y - T) @ R


          [Fix] fix wrong coordinate transform in sweep loading

0a3f566

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