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DRosemei / RoMe

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关于cutHiveMeshWithPoses方法mask旋转180度的问题 #52

Open JKK-dr opened 4 months ago

JKK-dr commented 4 months ago

mask = mask[::-1, ::-1] 在看源码时，发现这里对mask进行了180度的选择，请问为什么要这么设计呢？

DRosemei commented 4 months ago

@JKK-dr You can uncomment this and compate it with BEV images. You will see its shape is similar to the BEV image.

JKK-dr commented 4 months ago

Yes, I have tried it. I need to project the vertex coordinates onto the image here. I used NuscDataset's sample["world2camera"] to transform it into the camera coordinate system, and then projected it onto the image based on the camera intrinsics provided by nuScenes. However, I found that they were flipped by 180 degrees. I directly used points[i, 0] = width - points[i, 0], points[i, 1] = height - points[i, 1] to flip them. But I found there is still some offset. Can you help me solve this problem? Thank you very much for your open-source contribution.