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OpenDriveLab / OpenLane-V2

[NeurIPS 2023 Track Datasets and Benchmarks] OpenLane-V2: The First Perception and Reasoning Benchmark for Road Driving
https://proceedings.neurips.cc/paper_files/paper/2023/hash/3c0a4c8c236144f1b99b7e1531debe9c-Abstract-Datasets_and_Benchmarks.html
Apache License 2.0
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Question about the camera parameter transformation when resize the front view. #44

Closed YuanxianH closed 1 year ago

YuanxianH commented 1 year ago

Hi! Thank you for your contribution and I read your code carefully. My question is why lidar2cam_rt was transposed. (See in below link.)
https://github.com/OpenDriveLab/OpenLane-V2/blob/ddfcc55b871b490288815daf479e4224004148bf/plugin/mmdet3d/baseline/datasets/pipelines/transforms.py#L78

As far as I know, the resize operation of the image will only change its intrinsic, and its extrinsic should be kept the same.

faikit commented 1 year ago

It seems that it just follows the practise here in the dataset.

YuanxianH commented 1 year ago

Well, I see. lidar2cam_rt is actually initialized in a transposed pattern. 🤣