How to calculate rotation matrix in track_info.txt

[lihao2333]

I want to visualize the data you provided.
This is top lines of track_info.txt

frame_id track_id object_class alpha box_height box_width box_length box_center_x box_center_y box_center_z box_rotation_x box_rotation_y box_rotation_z box_rotation_w box_rotation_yaw
0 0 vehicle -10 1.459999999999999 2.2821073295700565 4.923172496970943 -382.8261342795741 -52.45224266813806 8.782908280723296 0.999927818775177 -0.00537631893530488 -0.005255937576293945 -0.00937098078429699 -1.5894825614588561

I am confuse that how to calculate the rotation matrix using box_rotation_x, box_rotation_y, box_rotation_z, box_rotation_w, bow_rotation_yaw? I try to calculate the matrix by left multiplying a rotation matrix calculated by quaternion on a rotation matrix calculated by yaw, but the result seems mismatched. I must miss something, could you please provide a specification of dataset? Thanks a lot.

[lihao2333]

I found that use rotation_matrix calculated by box_rotation_yaw + pi/2 is enough, box_rotation_x/y/z/w is useless.
Here is my visualization effect.

[zwlvd]

@lihao2333 Hello, I wonder how do you reproduce the result of Street-GS. Do you build it from the 3D-GS?

[pengsida]

This is an unofficial implementation: Unofficial Implementation

[2019213039]

@lihao2333 Hello, can you tell me how you do visualizations? What software is used?

[lihao2333]

@lihao2333 Hello, can you tell me how you do visualizations? What software is used?

I wrote a visualization tool using PyQt and VTK, which is not open source yet.

[lihao2333]

@lihao2333 Hello, I wonder how do you reproduce the result of Street-GS. Do you build it from the 3D-GS?

I just visualized the raw data; I haven't reproduced it yet