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jedeschaud / kitti_carla_simulator

KITTI-CARLA: Python scripts to generate the KITTI-CARLA dataset
MIT License
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How are the transforms determined ? #5

Open RaviBeagle opened 2 years ago

RaviBeagle commented 2 years ago

Hello @jedeschaud ,

How are these fixed transforms are determined ? As I understand the (0,0,0) of a car is fixed to be the middle of the rear axle 


 # Set sensors transformation from KITTI
            lidar_transform = carla.Transform(carla.Location(x=0, y=0, z=1.80), carla.Rotation(pitch=0, yaw=180, roll=0))
            cam0_transform = carla.Transform(carla.Location(x=0.30, y=0, z=1.70), carla.Rotation(pitch=0, yaw=0, roll=0))
            cam1_transform = carla.Transform(carla.Location(x=0.30, y=0.50, z=1.70), carla.Rotation(pitch=0, yaw=0, roll=0))

Atleast from the KITTI sensor setup diagram I cant seem to figure out how atleast the Location is decided from a CARLA left hand rule perspective..