I feel confused about the xyz of the box_list[0], so I look into the source code.
box_list = []
for box in boxes:
if flat_vehicle_coordinates:
# Move box to ego vehicle coord system parallel to world z plane
ypr = Quaternion(pose_record["rotation"]).yaw_pitch_roll
yaw = ypr[0]
box.translate(-np.array(pose_record["translation"]))
box.rotate_around_origin(Quaternion(scalar=np.cos(yaw / 2), vector=[0, 0, np.sin(yaw / 2)]).inverse)
else:
# Move box to ego vehicle coord system
box.translate(-np.array(pose_record["translation"]))
box.rotate_around_origin(Quaternion(pose_record["rotation"]).inverse)
# Move box to sensor coord system
box.translate(-np.array(cs_record["translation"]))
box.rotate_around_origin(Quaternion(cs_record["rotation"]).inverse)
if sensor_record["modality"] == "camera" and not box_in_image(
box, cam_intrinsic, image_size, vis_level=box_vis_level
):
continue
box_list.append(box)
The parameter flat_vehicle_coordinates is False, so I think the final box_list‘s xyz is in sensor coord system.
But the result I find the z is 27.38 or 27.02 (m ?)
I want to know where to find the definition of each sensor coord system ? I'm confused about the result, especially the z axis.
Thanks for your contribution for this big dataset very much !
The sensor coord system was defined as nuscenes dataset ?
I find their paper https://arxiv.org/pdf/1903.11027.pdf
The definition can be find in Figure 4.
I try like this:
I get the result like this:
I feel confused about the xyz of the box_list[0], so I look into the source code.
The parameter flat_vehicle_coordinates is False, so I think the final box_list‘s xyz is in sensor coord system. But the result I find the z is 27.38 or 27.02 (m ?) I want to know where to find the definition of each sensor coord system ? I'm confused about the result, especially the z axis.
Thanks for your contribution for this big dataset very much !