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?
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?