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petr 部署和可视化 #423

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POTATO-30 opened this issue Nov 12, 2023 · 2 comments
Open

petr 部署和可视化 #423

POTATO-30 opened this issue Nov 12, 2023 · 2 comments
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@LielinJiang

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@POTATO-30
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您好 我想请问一下我想将PETR部署到实车上需要更改哪些配置呢
image
推理程序里这个矩阵 是怎么得到的啊 没太看明白 还有petr的结果如何可以可视化一下呢
@Shaquille-Wu
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同问，旋转矩阵部分，不是单位的，这堆参数是不是有错？
比如，1.041，这个数已经超过1了
1.140732，这个数也超过1了
其他几个旋转矩阵也都有这个问题，
所以，我想请教一下，这个6x4x4的矩阵是想表达什么？如果是旋转矩阵+位移，那么旋转矩阵部分为什么不是单位的？

@LielinJiang
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6x4x4的矩阵，是图像坐标系到lidar坐标系的变换矩阵

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@LielinJiang LielinJiang

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@Shaquille-Wu @LielinJiang @POTATO-30