nuScenes velocity真值获取

参考

https://forum.nuscenes.org/t/ground-truth-velocities/639/2
https://github.com/nutonomy/nuscenes-devkit/blob/84ee1f3ad767a0ac5953fdd2f2d622bef46bedb0/python-sdk/nuscenes/nuscenes.py#L422
https://blog.csdn.net/qq_16137569/article/details/121066977

bbox gt center

#global frame
center = np.array(ann[‘translation’]) # 原始数据是在global坐标系

速度计算

velocity = pos_diff / time_diff

注：原始nuScenes数据采集频率10HZ，关键帧频率为2HZ。