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OpenDriveLab / OpenLane

[ECCV 2022 Oral] OpenLane: Large-scale Realistic 3D Lane Dataset
Apache License 2.0
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which coordinate system is the xyz in #28

Closed AOtrans closed 2 years ago

AOtrans commented 2 years ago

Hi author, I used this code to do 3D point projection to uv, the result seems right in uv image image image but this code does not use extrinsic from json file, I wondered if xyz means points in Sensor coordinate instead of Vehicle coordinate(s[u v 1]T = KE[x, y, z, 1]T) which mentioned here image

RicardLee commented 2 years ago

@AOtrans Thanks for report this error, xyz of gt lane line means points in camera coordinate

RicardLee commented 2 years ago

we have fixed his error in documentation.( https://github.com/OpenPerceptionX/OpenLane/commit/1e8e61ccb456232955cf999b8db2aa4023945d25).

dongyingchn commented 1 year ago

Hi, I have a question, if xyz are obtained by transforming point cloud into camera coordinate, how can it be accurate without considering distortion when projecting xyz into image？and as far as I know, images in waymo dataset are distorted.