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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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How do you define global coordinate system? #1029

Closed admyxs closed 7 months ago

admyxs commented 8 months ago

What are the origins of x, y, and z respectively? image

admyxs commented 8 months ago

thank for your quick reply but I want to know where the origin of z axes is

whyekit-motional commented 8 months ago

The reference (0, 0, 0) is the point at the top left corner of the respective map.

admyxs commented 8 months ago

The reference (0, 0, 0) is the point at the top left corner of the respective map.

thank for you quick reply! But what you said conflicts with the code.

https://github.com/nutonomy/nuscenes-devkit/blob/9b165b1018a64623b65c17b64f3c9dd746040f36/python-sdk/nuscenes/map_expansion/map_api.py#L45-L49

The code says it's south western corner, so it should be bottom left corner.

admyxs commented 8 months ago

thank for you quick reply again!!! And I want to know where the origin of z axes is?

whyekit-motional commented 7 months ago

@admyxs you can image the z-plane of the global frame to be the flat map