Liulong Ma

Hi, @Vandmoon Actually I use _demo.py_ to test.

In the [KITTI paper](https://ttic.uchicago.edu/~rurtasun/publications/geiger_et_al_ijrr13.pdf)： > Accelerations and angular rates are both specified using two coordinate systems, one which is attached to the vehicle body(x, y, z)and one that is mapped...

@geoeo sorry, do you mean the original assignment is right？ how to explain my fist comment？

@geoeo and for my second comment, in the paper it refers both gps and IMU: > OXTS (GPS/IMU):For each frame, we store30differ-ent GPS/IMU values in a text file: The geographic...

Added @madarax64 , also modify fg_pool_layer.py, add ` nh = int(nh)` `nw = int(nw)` below `nh = (h - 1) / win_y + 1` `nw = (w - 1) /...