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OpenDriveLab / ST-P3

[ECCV 2022] ST-P3, an end-to-end vision-based autonomous driving framework via spatial-temporal feature learning.
Apache License 2.0
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Carla extrinsics being passed wrong #15

Closed Vikr-182 closed 1 year ago

Vikr-182 commented 1 year ago

Hi, Thank you for the awesome work!

When calculating extrinsics for CarlaData, you have used angle in degrees (yaw) in Quaternion You may need to add this line - 

yaw = yaw * (np.pi / 180)

Can you confirm it? https://github.com/OpenPerceptionX/ST-P3/blob/82e0d1b1678db881ab0b01dd26b694f3d77608e3/stp3/datas/CarlaData.py#L298-L317

Regards.