8000 Projection Matrices for LUT formation · Issue #100 · Sense-GVT/Fast-BEV · GitHub
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Projection Matrices for LUT formation #100

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aseemk98 opened this issue May 1, 2025 · 2 comments
Open

Projection Matrices for LUT formation #100

aseemk98 opened this issue May 1, 2025 · 2 comments

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@aseemk98
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aseemk98 commented May 1, 2025

Hi, thanks so much for the paper and the implementation. I'm particularly interested in how you are populating your lookup table for fast-ray transform. The LUT stores a mapping between voxel coordinates -> image feature coordinates. And this is pre-configured before training/inference.
I'm having difficulty in understanding how you calculated the transformation matrix that allows the transform from voxel coordinates to image feature coordinates.
I see a transformation matrix called "sensor2ego" in nuscenes, is the inverse of this transformation used? Any insight would be greatly appreciated, thanks.
@aseemk98
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aseemk98 commented May 1, 2025

https://github.com/Sense-GVT/Fast-BEV/blob/9de045abcd8ca7d1229181d19e0224e0516d5425/script/view_tranform_cuda/input/projection_data.bin

I see this file but can you elaborate on the creation of this file?

@venkataramanas1
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hey @aseemk98 : were you able to make the project up and running ? if so cna you provide me steps

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