Issue about "extrinsic":<float> [4, 4] -- camera extrinsic matrix

[onionysy]

We know that the external parameter is the transformation relationship between the camera and the ground coordinate system. When annotating data, how are extrinsic matrix annotated? extrinsic matrix = [[cos(cam_pitch), 0, -sin(cam_pitch), 0], [0, 1, 0, 0], [sin(cam_pitch), 0, cos(cam_pitch), h], [0, 0, 0, 1]] Is that how I understand it?

[homothetic]

i think that the original cam_extrinsics in JSON file transforms camera coordinate system to vehicle coordinate system

[YuEn-git]

i think that the original cam_extrinsics in JSON file transforms camera coordinate system to vehicle coordinate system

Thank you for your answers. They have been very helpful to me. However, I am confused about how you arrived at that conclusion. Could you please tell me where you found that information? Is it in Waymo's documents?

[RicardLee]

It's in Waymo's github issue24.