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udacity / CarND-Capstone

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Focal lengths wrong #20

Closed friedricherbs closed 7 years ago

friedricherbs commented 7 years ago

Hi,

from sim_traffic_light_config.yaml:

"focal_length_x: 0.97428 focal_length_y: 1.73205"

I think these values are probably not correct. In 10m distance, an object with a width oft 1m (wider than a traffic light) would just be 0.1 pixels wide in the image plane which is impossible to detect of course. Typical values for fx and fy are in the range of 1000 pixels. As a consequence, the projection of the TLs always ends up at the focus of expansion. Please clarify or adapt focal length values.

ckirksey3 commented 7 years ago

@awbrown90 could you look into this?

friedricherbs commented 7 years ago

Any update here?

ChrisShepherd81 commented 7 years ago

Is there any update? This is an blocking issue.

ckirksey3 commented 7 years ago

Sorry for the slow response here. Since we don't have a way to provide a representation of focal length in Unity (see @awbrown90's response in the forums), we've decided to focus on supporting the approach of classifying the entire image as either containing a red, yellow, or green light. I've removed these misleading focal length numbers from the repo (https://github.com/udacity/CarND-Capstone/pull/79)