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valeoai / WoodScape

The repository containing tools and information about the WoodScape dataset.
https://woodscape.valeo.com/dataset
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SynWoodScape visualize #117

Open wangwz6666 opened 1 year ago

wangwz6666 commented 1 year ago

How can 3d annotations of SynWoodScape data sets be visualized onto images? I tried almost everything and it didn't work

ARSekkat commented 1 year ago

Hi, check this comment https://github.com/valeoai/WoodScape/issues/107#issuecomment-1534458199 it can help you. For the fisheye images you need to use the function project_3d_to_2d instead of get_image_point.

wangwz6666 commented 1 year ago

Sorry, I still can't visualize correctly on the fisheye diagram. Could you please provide the code?

wangwz6666 commented 1 year ago

I don't know how to use the internal parameters, external parameters and distortion parameters of the fisheye diagram

ARSekkat commented 1 year ago

The Bounding boxes are expressed in the Carla world reference you need to express them into the camera reference using the ego vehicle transform provided and the position and rotation of the camera in the ego vehicle reference. And then you can use the fisheye calibration model used to project this from 3D to 2D.