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question about transformation from image to camera coord #33

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mzy97 opened this issue Aug 24, 2020 · 0 comments

mzy97 commented Aug 24, 2020

In the code below, b_x is the baseline from camera #i to camera #0. it is not related to this transformation, why you add it to the focal length?

kitti_object_vis/kitti_util.py

Line 294 in d54807c

x = ((uv_depth[:, 0] - self.c_u) * uv_depth[:, 2]) / self.f_u + self.b_x

or I guess the b_x or b_y is the distance between LIDAR and cam0? so need to add b_x to extend focal length to match the similar triangle?

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