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3 months ago Hello, could you please inquire about some issues with the simulation data generated by Carla? I am planning to use this data for V2X roadside model training and have encountered some issues. Could you please take some time to answer these questions
In which coordinate system is the target box in actors_data under the RSU folder located?
The calibration file in the rsu_xxxx/measurements folder contains the external parameters of the camera. Which coordinate system is the transformation parameter from the camera coordinate system?
Sorry for the late response and thank you for your attention. The bounding boxes in the actors_data locate in the world coordinate in Carla world, which is a left hand coordinate system and the x-axis is facing north. The external parameters of the camera of RSU locate in the coordinate related to the lidar(left hand). You can find the corresponding definition in the def get_camera_extrinsic in simulation/leaderboard/leaderboard/sensors/fixed_sensors.py. I hope you find this helpful.
Hello, could you please inquire about some issues with the simulation data generated by Carla? I am planning to use this data for V2X roadside model training and have encountered some issues. Could you please take some time to answer these questions
In which coordinate system is the target box in actors_data under the RSU folder located?
The calibration file in the rsu_xxxx/measurements folder contains the external parameters of the camera. Which coordinate system is the transformation parameter from the camera coordinate system?