search

thomasfermi / Algorithms-for-Automated-Driving

Each chapter of this (mini-)book guides you in programming one important software component for automated driving.
https://thomasfermi.github.io/Algorithms-for-Automated-Driving/Introduction/intro.html
Other
383 stars 84 forks source link

Add yaw argument to CameraGeometry constructor #20

Closed thomasfermi closed 3 years ago

thomasfermi commented 3 years ago

camera_geometry.py from the lane detection chapter should be improved such that the CameraGeometry constructor also accepts yaw as an argument (not only pitch). The corresponding exercise also needs to be adapted.

This is needed for the CameraCalibration chapter.

This method will be useful. Order of rotation needs to be considered (see #19 )

thomasfermi commented 3 years ago

Commit aa41081c40b7b987346f3b5c2b176b492042ad09 solves this.

Now the full rotation matrix with yaw,pitch,roll is being used. It is also given in the exercise so that the student does not need to implement it. Problem: Within the lane detection chapter this yaw,pitch,roll matrix business is never explained. So a student reading this code might get confused.

This should be solved within this issue now.

thomasfermi commented 3 years ago

Added explanation to lane detection chapter. This closes the issue