Input and output coordinate

[AnMoran]

we are training use our data, loss decrease very slow our input annotation is in lidar coord like this, but i think the nuscene is in ego coord, but in other issue the author say the output is in lidar coordhttps://github.com/hustvl/MapTR/issues/33，is there some confusion?

[sinyoo815]

Did you solve this problem? I’m also using my own data, but I’m not sure which coordinate system the model outputs. I thought nuScenes used the ego coordinate system ,not the lidar coordinate system as well.