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OpenDriveLab / OpenLane

[ECCV 2022 Oral] OpenLane: Large-scale Realistic 3D Lane Dataset
Apache License 2.0
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Why cam_extrinsics[0:2, 3] = 0.0 #50

Closed Lizhuoling closed 1 year ago

Lizhuoling commented 1 year ago

I note there is such an operation in the code: gt_cam_height = cam_extrinsics[2, 3] gt_cam_pitch = 0 cam_extrinsics[0:2, 3] = 0.0 I do not understand why there needs "cam_extrinsics[0:2, 3] = 0.0". The cam_extrinsics is used for transforming the points in normal camera coordinate system to LaneNet ego coordinate system. Setting the last column as 0 means removing the offset item. Why do this?

RicardLee commented 1 year ago

In LaneNet ego coordinate system, the camera is right above the coordinate system origin. So we remove this offset.