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bradyz / cross_view_transformers

Cross-view Transformers for real-time Map-view Semantic Segmentation (CVPR 2022 Oral)
MIT License
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Question about camera extrinsics in batch #26

Open Fengshihao1 opened 2 years ago

Fengshihao1 commented 2 years ago

Dear Professor，

Thank you very much for seeing this email in your busy schedule.
I have a question for you here: In your ''Cross-view Transformers for real-time Map-view Semantic Segmentation '' paper, when encoding image information, the rotation matrix and translation of the camera external parameters are relative to the ego-vehicle coordinate system, but the ego-vehicle coordinates are also useful in the code to the world coordinate system. So I don't know what the external parameters that go into the encoded batch in the code represent exactly。
I hope you can answer a question in your free time, thank you very much！
lzm2275965881 commented 1 year ago

I found that the camera extrinsics generated by CVT are different from those generated by Fiery, I'm confused, too. Do you know why now?