Update vad_b2d_agent.py camera projection matrix

Thinklab-SJTU · Aug 10, 2024 · a95fdcb · a95fdcb
1 parent 4a54206
commit a95fdcb
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/team_code/vad_b2d_agent.py b/team_code/vad_b2d_agent.py
@@ -117,10 +117,10 @@ def setup(self, path_to_conf_file):
                                     [ 3.68618420e+02,  2.58109396e+02, -1.14251841e+03,-6.47296750e+02],
                                     [ 8.19152044e-01,  5.73576436e-01,  0.00000000e+00,-8.29094072e-01],
                                     [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00, 1.00000000e+00]]),
-        'CAM_BACK':np.array([[-1.00000000e+00, -1.22464680e-16,  0.00000000e+00, -1.97168135e-16],
-                             [ 0.00000000e+00,  0.00000000e+00, -1.00000000e+00, -2.40000000e-01],
-                             [ 1.22464680e-16, -1.00000000e+00,  0.00000000e+00, -1.61000000e+00],
-                             [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00]]),
+        'CAM_BACK':np.array([[-5.60166031e+02, -8.00000000e+02,  0.00000000e+00, -1.28800000e+03],
+                     [ 5.51091060e-14, -4.50000000e+02, -5.60166031e+02, -8.58939847e+02],
+                     [ 1.22464680e-16, -1.00000000e+00,  0.00000000e+00, -1.61000000e+00],
+                     [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00]]),
         'CAM_BACK_LEFT':np.array([[-1.14251841e+03,  8.00000000e+02,  0.00000000e+00, -6.84385123e+02],
                                   [-4.22861679e+02, -1.53909064e+02, -1.14251841e+03, -4.96004706e+02],
                                   [-9.39692621e-01, -3.42020143e-01,  0.00000000e+00, -4.92889531e-01],
@@ -450,4 +450,4 @@ def gps_to_location(self, gps):
         mx = (lon * (math.pi * EARTH_RADIUS_EQUA * scale)) / 180.0
         y = scale * EARTH_RADIUS_EQUA * math.log(math.tan((90.0 + self.lat_ref) * math.pi / 360.0)) - my
         x = mx - scale * self.lon_ref * math.pi * EARTH_RADIUS_EQUA / 180.0
-        return np.array([x, y])
+        return np.array([x, y])