get_seg_offset - Githubissues

fengguibinyn commented 1 year ago

    cam_w_extrinsics = np.array(gt['extrinsic'])
    maxtrix_camera2camera_w = np.array([[0, 0, 1, 0],
                                        [-1, 0, 0, 0],
                                        [0, -1, 0, 0],
                                        [0, 0, 0, 1]], dtype=float)
    cam_extrinsics = cam_w_extrinsics @ maxtrix_camera2camera_w  #
    R_vg = np.array([[0, 1, 0],
                     [-1, 0, 0],
                     [0, 0, 1]], dtype=float)
    R_gc = np.array([[1, 0, 0],
                     [0, 0, 1],
                     [0, -1, 0]], dtype=float)
    cam_extrinsics_persformer = copy.deepcopy(cam_w_extrinsics)
    cam_extrinsics_persformer[:3, :3] = np.matmul(np.matmul(
        np.matmul(np.linalg.inv(R_vg), cam_extrinsics_persformer[:3, :3]),
        R_vg), R_gc)
    cam_extrinsics_persformer[0:2, 3] = 0.0
    matrix_lane2persformer = cam_extrinsics_persformer @ np.linalg.inv(maxtrix_camera2camera_w)

matrix_lane2persformer 这个矩阵代表的是什么

zym1119 commented 1 year ago

following coordinate system explained in coord_sys

here is my understanding:

variable	comment
cam_w_extrinsics	waymo extrinsics, waymo camera to waymo vehicle
maxtrix_camera2camera_w	normal camera to waymo camera
cam_extrinsics	normal camera to waymo vehicle
R_vg	lanenet camera to waymo camera
R_gc	normal camera to lanenet camera
cam_extrinsics_persformer	normal camera to lanenet vehicle
matrix_lane2persformer	waymo camera to lanenet vehicle

i'm not so sure about this, so if i'm wrong, please figure it out

Ywenjun123 commented 1 year ago

    cam_w_extrinsics = np.array(gt['extrinsic'])
    maxtrix_camera2camera_w = np.array([[0, 0, 1, 0],
                                        [-1, 0, 0, 0],
                                        [0, -1, 0, 0],
                                        [0, 0, 0, 1]], dtype=float)
    cam_extrinsics = cam_w_extrinsics @ maxtrix_camera2camera_w  #
    R_vg = np.array([[0, 1, 0],
                     [-1, 0, 0],
                     [0, 0, 1]], dtype=float)
    R_gc = np.array([[1, 0, 0],
                     [0, 0, 1],
                     [0, -1, 0]], dtype=float)
    cam_extrinsics_persformer = copy.deepcopy(cam_w_extrinsics)
    cam_extrinsics_persformer[:3, :3] = np.matmul(np.matmul(
        np.matmul(np.linalg.inv(R_vg), cam_extrinsics_persformer[:3, :3]),
        R_vg), R_gc)
    cam_extrinsics_persformer[0:2, 3] = 0.0
    matrix_lane2persformer = cam_extrinsics_persformer @ np.linalg.inv(maxtrix_camera2camera_w)

matrix_lane2persformer 这个矩阵代表的是什么

你好,可以给我一份关于虚拟相机的代码吗

EnternalTwinkle commented 1 year ago

@fengguibinyn Can you share the source code? Thank you very much，1017094591@qq.com

gigo-team / bev_lane_det

get_seg_offset #7