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bradyz / 2020_CARLA_challenge

"Learning by Cheating" (CoRL 2019) submission for the 2020 CARLA Challenge
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About Converter world <--> cam conversion hack #52

Open ajdroid opened 2 years ago

ajdroid commented 2 years ago

In the world <--> cam conversions in the Converter module, a self.hack=0.4 parameter is used to modify the z coordinate (camera). https://github.com/bradyz/carla_project/blob/ac791fcf7e59ad80b6908dadc00eb4f26147c065/src/converter.py#L17

How is this parameter obtained? I suspect it has something to do with the hack to convert gps -> world coords. This hack has changed in subsequent carla versions due to new conventions in the maps, so I suspect I need to update this calcuation as well. I can do that for the new conventions if you can point me to how 0.4 was obtained. Thanks!

ajdroid commented 2 years ago

Also, here the focal lengths in x and y are set to unequal but from following the sensor declaration in carla, this shouldn't really be the case https://github.com/bradyz/carla_project/blob/ac791fcf7e59ad80b6908dadc00eb4f26147c065/src/converter.py#L27 Where does the unequal focal length in x and y come from?