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Different rotation matrix applied for res_vb and res_vt? #69

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chencgln opened this issue Apr 16, 2020 · 1 comment
Open

Different rotation matrix applied for res_vb and res_vt? #69

chencgln opened this issue Apr 16, 2020 · 1 comment

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@chencgln
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chencgln commented Apr 16, 2020

Hi there,

In the function of: box_estimator.solve_x_y_z_theta_from_kpt, it seems res_vb and res_vt use different rotation matrices.

res_vb = y/(z -np.sin(theta)*bottom_w + np.cos(theta)*bottom_l) - bottom_v
res_vt = (y - h)/(z +np.sin(theta)*bottom_w -np.cos(theta)*bottom_l) - top_v

Since they both rotate around y-axis, why different rotation matrices are applied?

Thanks for your time!

@PeiliangLi
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Hi there,
The rotation matrix is the same, while the 3D coordinates of vb and vt are different. So the equations are different.

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