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Why there are two kinds of ego2global. #9

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rockywind opened this issue Sep 27, 2022 · 0 comments
Open

Why there are two kinds of ego2global. #9

rockywind opened this issue Sep 27, 2022 · 0 comments

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@rockywind
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Hi,
I'm confused about the two kinds of ego2global value in the line 342 and in the line 419.
Why there are two kinds of ego2global.
What's the difference between them.

        # Get mean pose of all cams.
        ego2global_rotation = np.mean(
            [key_info[cam]['ego_pose']['rotation'] for cam in cams], 0)
        ego2global_translation = np.mean(
            [key_info[cam]['ego_pose']['translation'] for cam in cams], 0)

                # sweep ego to global
                w, x, y, z = cam_info[cam]['ego_pose']['rotation']
                sweepego2global_rot = torch.Tensor(
                    Quaternion(w, x, y, z).rotation_matrix)
                sweepego2global_tran = torch.Tensor(
                    cam_info[cam]['ego_pose']['translation'])
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@rockywind