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TOPO-EPFL / CrossLoc-Benchmark-Datasets

[CVPR'22] CrossLoc benchmark datasets setup and helper scripts.
MIT License
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About Pose Matrix (extrinsic camera matrix) Caculation #2

Closed VictorZoo closed 1 year ago

VictorZoo commented 1 year ago

Hi,

I noticed that when converting rotation matrices, it is necessary to use the rotation in the END (East-North-Down) coordinate system in the ECEF (Earth-Centered, Earth-Fixed) coordinate system as a bridge for the conversion. I would like to ask, how should I perform the conversion if my current model is in the EPSG:32632 coordinate system? The reference links you provided are no longer accessible (https://www.fossen.biz/wiley/ed2/Ch2.pdf).

I would greatly appreciate it if you could reply to me.

Best regards VictorZoo

qiyan98 commented 1 year ago

Hi, thanks for your interest in our project. It's unfortunate that this reference link no longer works. You can still take a look at https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf, Section 4.3, 4.1 for related information.

I suppose you can follow the steps here to get NED coordinates. In our workflow, we first obtain the geographic longitude/latitude/altitude values using pyproj.Transformer.from_crs then convert them to NED. If you can find a smilar way to convert the EPSG:32632 to standard ECEF coordinate in epsg:4978 or lon/lat/alt in epsg:4979, I believe you can reuse some part of our code.