In the paper, in Eq. 13 and 14, the radar intrinsic matrix is an orthographic projection matrix and a conversion to cartesian coordinates/units.
However, in ProjectAllBBox.py, it seems that a perspective transform is applied as well. So there seems to be a contradiction between the code and paper's model + formula. Could you clarify this?
In the paper, in Eq. 13 and 14, the radar intrinsic matrix is an orthographic projection matrix and a conversion to cartesian coordinates/units.
However, in ProjectAllBBox.py, it seems that a perspective transform is applied as well. So there seems to be a contradiction between the code and paper's model + formula. Could you clarify this?
If I set the world coordinates (x,z) = (0,0) to estimate the translation between world/camera and radar coordinate frames using
The result is [-0.2125, 0.6 , 1. ] in meters, which does not seem reasonable.
Furthermore, can you clarify the difference between 'p_matrix_original.npy' and 'p_matrix.npy'?
Thank you.