Comments (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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Thank you for the response. It answers my questions!
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