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coordinate transformation #45
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for example, the camera extrinsic parameters
Eigen::Affine3d c2n;
if (!transform_server.QueryTransform(camera_name, "novatel", &c2n)) {
AINFO << "Failed to query transform from " << camera_name
<< " to novatel";
return -1;
}
frame.camera2world_pose = pose * c2n; // here is |
Yes, I want to know the code of coordinate system transformation in Apollo and the mathematical formula in the transformation process, just like the second example |
You should try to find information about transformation matrices. like link |
I know this part of knowledge, and I may not express it accurately. I want to know which part of apollo's source code is used for conversion. Although the source code is well packaged and relatively large, the corresponding source code is not found, and it is not found in the transform module. |
What source code do you need, the source code is in the library If you want to know apollo how to use it. if you want to know the principle |
Thank you for your help. I seem to understand what you mean. Thank you. |
I want to know the mathematical formula of radar, lidar, camera and world coordinate conversion, but I can't find it in the conversion module. Do you have any suggestions? Thank you, boss.
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