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lreiher avatar lreiher commented on July 25, 2024 2

It's been a while and I only spent a couple minutes thinking about it before writing this comment, but hope this helps ;)

  • world frame is matched to vehicle frame, i.e. right-handed coordinate system with x pointing in the direction of forward driving, y pointing to the left of the car, z pointing upwards
  • image frame is 2-dimensional, with x pointing to the right (image width) and y pointing downwards (image height), so origin is at image's top left corner
  • hence the comment # switch axes (x = -y, y = -z, z = x): x in image plane is negative y in world frame, and so on ...
  • possible rotations of the camera are taken into account by the rotation matrices in setR()

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ektas0330 avatar ektas0330 commented on July 25, 2024

Thank you for the response. It answers my questions!

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