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There is the origin code in perception uitl : `n_top_ << 0.0, sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_); n_bottom_ << 0.0, -sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_);
n_left_ << sin(M_PI_2 - left_angle_), 0.0, cos(M_PI_2 - left_angle_); n_right_ << -sin(M_PI_2 - right_angle_), 0.0, cos(M_PI_2 - right_angle_); T_cb_ << 0, -1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1; T_bc_ = T_cb_.inverse();Tcb means the transformation from body frame to camera frame, but it should be :T_cb_ << 0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0, 0, 0, 0, 1;`
Tcb means the transformation from body frame to camera frame, but it should be :
n_top,n_bottom,n_left,n_right are the dirction of FOV in camera frame. I think the realtionship should be like the picture:
The text was updated successfully, but these errors were encountered:
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There is the origin code in perception uitl :
`n_top_ << 0.0, sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_);
n_bottom_ << 0.0, -sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_);
n_left_ << sin(M_PI_2 - left_angle_), 0.0, cos(M_PI_2 - left_angle_);
n_right_ << -sin(M_PI_2 - right_angle_), 0.0, cos(M_PI_2 - right_angle_);
T_cb_ << 0, -1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1;
T_bc_ = T_cb_.inverse();
Tcb means the transformation from body frame to camera frame, but it should be :
T_cb_ << 0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0, 0, 0, 0, 1;`n_top,n_bottom,n_left,n_right are the dirction of FOV in camera frame. I think the realtionship should be like the picture:
The text was updated successfully, but these errors were encountered: