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naurril / SUSTechPOINTS

3D Point Cloud Annotation Platform for Autonomous Driving
GNU General Public License v3.0
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Projecting 3D Bbox onto image #96

Open jayjo217 opened 2 years ago

jayjo217 commented 2 years ago

Hi. I have a question in the process of projecting the 3D Bbox created on the LiDAR screen onto the image.

When the corner points of the 3D Bbox is converted from the LiDAR coordinate system to the camera coordinate system, I wonder what processing is done in the process of projecting the negative value based on the Z axis to the image.

In the code, it seems that the point is ignored, but in the window shown at the bottom left when editing the 3D Bbox, it was shown to be displayed the same as the point having a positive value based on the Z axis on the camera coordinates.

Thank you in advance. Sincerely,

kanelian63 commented 2 years ago

I have a same question

naurril commented 2 years ago

Yes, if the box is behind the camera (z<0) it's ignored. The difference is in bottom left subview, the box can be drawn outside of the image (z > 0，x or y outside image range )