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ApolloAuto / apollo

An open autonomous driving platform
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MultiCueObstacleTransformer::SetObjMapperOptions #13429

Open blamezdn opened 3 years ago

blamezdn commented 3 years ago

what is the orientation of camera cordinate, x axis to right or front?

theta_ray = static_cast(atan2(point_in_camera.x(), point_in_camera.z()));

Is it should be " theta_ray = static_cast(atan2(point_in_camera.z(), point_in_camera.x())); " ?

daohu527 commented 3 years ago

The z is heading, x is right and y is the vertical direction. You can ref to link

blamezdn commented 3 years ago

@daohu527 So theat_ray is the angle between vehicle orientation and x ( or z ?) axis, means atan2(z, x) ? That's what I feel strange.

bemelian commented 3 years ago

@daohu527 I think also that there is an error here. The function atan2 takes the values of the first - "Y" (camera coordinate Z) and the second - "X" (camera coordinate X) coordinates. So it should be "theta_ray = static_cast(atan2(point_in_camera.z(), point_in_camera.x()));". Orientation determination works better with these changes (multicue_obstacle_transformer.cc:69 and location_refiner_obstacle_postprocessor.cc:113). scheme-01