rts2proj Bug?

[frkmac3]

Fast-BEV/mmdet3d/datasets/pipelines/transforms_3d.py

Line 1858 in 9de045a

return lidar2img_rt.astype(np.float32)

hi, you get lidar2img_rt here, where lidar2img_rt equal to intrinsic @ lidar2cam_rt.T) ; why you treat it as camera extrinsics as the following?

Fast-BEV/mmdet3d/datasets/pipelines/transforms_3d.py

Line 1710 in 65c4722

results['lidar2img']['extrinsic'] = aug_extrinsics

[venkataramanas1]

Have you up the project ? can you provide me steps to build and run properly ?