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ground2bv_hmat of radar2camera manual calibration #179

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lida43 opened this issue Dec 17, 2024 · 0 comments
Open

ground2bv_hmat of radar2camera manual calibration #179

lida43 opened this issue Dec 17, 2024 · 0 comments

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@lida43
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lida43 commented Dec 17, 2024

嗨,你好
关于radar2camera手动标定工具,有以下问题想跟你交流下:

  1. 根据readme中的教程,手动选择4个点的顺序是右下、右上、左下、左上,但是在代码birdview.hpp的computeHomo函数中,bv_pts的顺序是左下、左上、右下、右上,不知道这其中是有什么原理吗,还是顺序弄错了?
    bv_pts.push_back(cv::Point2f(left, down));
    bv_pts.push_back(cv::Point2f(left, up));
    bv_pts.push_back(cv::Point2f(right, down));
    bv_pts.push_back(cv::Point2f(right, up));
  2. 手动选择的4个点,需要尽量保证其在地面的投影是一个矩形吗?我看readme示例中选择的4个点,在地面投影应该是个不规则四边形
  3. 代码birdview.hpp的computeHomo函数中,bv_pts四个点的计算原理是?特别是计算down坐标时,height_ / 25.0是什么原理?
    float left = width_ / 2.8;
    float right = width_ - width_ / 2.8;
    float up = height_ / 2.5;
    float down = height_ - height_ / 25.0;
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