From a95fdcb21231b76186d20d443ce126404bce384a Mon Sep 17 00:00:00 2001 From: Xiaosong Jia <81464843+jiaxiaosong1002@users.noreply.github.com> Date: Sat, 10 Aug 2024 12:01:22 +0800 Subject: [PATCH] Update vad_b2d_agent.py camera projection matrix --- team_code/vad_b2d_agent.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/team_code/vad_b2d_agent.py b/team_code/vad_b2d_agent.py index a155800..a05c807 100644 --- 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]) \ No newline at end of file + return np.array([x, y])