Closed onionysy closed 1 year ago
i think that the original cam_extrinsics in JSON file transforms camera coordinate system to vehicle coordinate system
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?
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?