What is the origin of ego coordinate system?

[HochGit]

At the middle of front bumper, or center of vehicle, or where?

[ltriess]

I am also interested in this question. For many semantic segmentation networks, we use cylindrical depth projections. Therefore, it is important to know whether these are vehicle coordinates or sensor coordinates and/or how to transform between these coordinate systems.

[jlbslbs]

It would also be helpful if the data could be provided as raw data, i.e. in sensor coordinates without any motion compensation in the point cloud.

[ltriess]

It would also be helpful if the data could be provided as raw data, i.e. in sensor coordinates without any motion compensation in the point cloud.

It would also help here #69

[xpchuan-95]

We can temporarily provide raw data of Pandar64 and a instruction of the raw data PandaSet Raw Data Instructions.pdf. The raw data can be download at https://drive.google.com/drive/folders/1ou_HqaQq0rGR0UrGZkFYWrE3mCJDosX8?usp=sharing

[jlbslbs]

Would it be possible to also provide the raw data of the Pandar GT in a similar way? There are algorithms that work better and more efficiently on an organised point cloud, i.e a depth image, than on an unorganised point cloud.