Which coordinates does maptr choose?

[GodMan]

In the code here , it announced using LIDAR coordinates, but LIDAR coordinates x is front, see bellow figure, so if we specific (bev_h, bev_w) = (200, 100), the point_cloud_range should be xbound =[-30, 30, 0.15], ybound=[-15, 15, 0.15], zbound=[-10, 10, 20].

Actually, the code is xbound =[-15, 15, 0.15], ybound=[-30, 30, 0.15], zbound=[-10, 10, 20], and then exchange LSSTransform's bev feature h and w to match the (bev_h, bev_w) size.

So I am confused about the coordinates. Can you help me understand it? Thank you.

[guzuoxu]

In the nuScenes dataset, the x-axis is not forward.