Question about ref_chan in radar multisweep about radar_depth HOT 1 CLOSED

Hi @pjckoch

I forgot the reason of doing that. They might be redundant steps, and I don't have the nuscenes dataset on my laptop to check it now. You can verify what will happen if you change that part to camera directly.

One possible reason is that the target camera sensor might not have the same timestamp as the radar sensor, so we have to transform these point cloud to the world coordinate first. So either we transform these radar points to LiDAR (having the highest capture frequency), or we transform them separately (5 radar sensor) to the world coordinate using their own extrinsics.

Best

from radar_depth.