Apollo: what's the mean about obstacle's theta in module perception?
apollo 3.5
what's the mean about obstacle's theta in module perception?
is it a angle between east direction?
wanggujin
All 5 comments
@wanggujin could you specify which theta are you referring to by quoting the line of code here?
KaWaiTsoiBaidu
on 4 Jun 2019
@wanggujin could you specify which theta are you referring to by quoting the line of code here?
message PerceptionObstacle {
optional int32 id = 1; // obstacle ID.
// obstacle position in the world coordinate system.
optional common.Point3D position = 2;
optional double theta = 3; // heading in the world coordinate system.
optional common.Point3D velocity = 4; // obstacle velocity.
}
wanggujin
on 5 Jun 2019
@wanggujin As the comment stated, it should be the object heading direction in the world coordinate system. The world coordinate system is x --> east, y --> north, z --> up.
KaWaiTsoiBaidu
on 5 Jun 2019
Closing this issue as it appears to be resolved. Feel free to reopen if you have additional questions. Thanks!
natashadsouza
on 17 Jun 2019
@KaWaiTsoiBaidu @natashadsouza
Is it angle or radians? It seems like radians but not angle. Could you pls help to check that. Aslo Which side does it rotate to?
daohu527
on 9 Aug 2019
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Most helpful comment
@wanggujin As the comment stated, it should be the object heading direction in the world coordinate system. The world coordinate system is x --> east, y --> north, z --> up.