Can you explain a bit about the extrinsic camera calibration that you are doing in the cpp file on the pcd data and why?

[MeghaMaheshwari]

No description provided.

[shunchan0677]

Hi @MeghaMaheshwari. Thank you for your comment.

In cpp directory, we developed label_filter. This module calculate alpha parameter in labeling result and remake pcd file by each 3d bounding-box after annotation.

the format of our results is KITTI 2D-3D format(NVIDIA/DIGITS#992). In the format, the 3d bounding-box location is represented by camera coordinates. In label_filter, we convert 3d bounding-box location in camera coordinates to pcd coordinates to remake pcd file.