Camera intrinsic matrixes cam2imgs not adapted to the input size in get_lidar_coor(...)

[dyou-dev]

In class LSSViewTransformer -> def get_lidar_coor(...), the camera intrinsic matrixes cam2imgs is of the src size (900, 1600), not of the input size (256, 704).

Reproduction

1. Add the following code in class LSSViewTransformer -> def get_lidar_coor(...).
   print(self.frustum.shape)
   print(self.frustum[0, -1, -1, ...].to(int))
   print(cam2imgs.to(int))
   quit()

2. Run the test.
   python3 tools/test.py configs/bevdet/bevdet-r50.py ../bevdet-r50.pth --format-only --eval-options jsonfile_prefix=out

3. Get the log.
   torch.Size([59, 16, 44, 3])
   tensor([703, 255, 1])
   tensor([[[[1257, 0, 827],
   [ 0, 1257, 450],
   [ 0, 0, 1]],

It shows that the (u, v) of input size (256, 704) will be operated with the camera intrinsic matrix of src size (900, 1600).
It looks like an issue, or is there any special consideration here?

[dyou-dev]

The issue was found with the branch dev2.0, commit 2ae6a02. I haven't checked other branches yet.

[441599828]

hi. i have the same question, any explanation?

[BozhouZha]

The resize ratio seems to be blended into post_rot already, which was also applied to frustum points.