Transformation of vehicle data from global to sensor coordinate is not matching as given in the data set
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Assessment
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Newbie friendliness
- 35/100
- Issue type
- Bug
- Clarity
- Mostly clear
- Activity status
- Stale
- Tech stack
- numpy, python
- Domain
- autonomous-driving
Research direction
Reproduce the NumPy coordinate transformation using the vehicle, ego, and sensor translation and rotation arrays shown in the issue. Compare the intermediate and final values with the dataset result, then document or correct the transformation so it matches [-19.02, -48.93, -1.20].
Written by the indexing model from the issue text.
Description
veh_trans = np.array([1048.155950230245, 1691.8102354006162, -23.304943447792454])
ego_trans = np.array([1007.2332778546752, 1725.4217301399465, -24.58000073380586])
ego_rot = np.array([[ 9.99991535e-01, -1.94042865e-03, -3.62842040e-03],
[ 4.02573511e-03, 2.79013810e-01, 9.60278651e-01],
[-8.50972801e-04, -9.60285129e-01, 2.79019260e-01]])
sens_trans = np.array([1.1970962545449502, 3.680498291456359e-05, 1.8279670539933053])
sens_rot = np.array([[ 9.99742609e-01, -2.87538929e-04, -2.26855114e-02],
[-8.12880579e-17, 9.99919682e-01, -1.26739852e-02],
[ 2.26873336e-02, 1.26707230e-02, 9.99662312e-01]])
veh_with_ego = np.dot(np.linalg.inv(ego_rot),(veh_trans - ego_trans))
veh_with_sens = np.dot(np.linalg.inv(sens_rot),(veh_with_ego -sens_trans))
veh_with_sens = array([ 38.80960936, -11.12196007, -34.6483506])
result as given in the dataset = [-19.02, -48.93, -1.20]
Can someone help with what is wrong in the above method??
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