Do you need to transform keyframes with sweeps to current frame(e.g. -1.5s frame to 0s frame) on nuScenes dataset? #3
Description
I'd like to ask the detail of multi-frame lidar detection pipeline. Do you need to transform keyframes with sweeps to current frame(e.g. -1.5s frame to 0s frame) on nuScenes dataset? Do you need a db_info for each frame(-1.5s, -1.0s, -0.5s) or you only need a db_info for all frames?