Carla: Transform

[Archiewyq]

hello,
i find the function get_unreal_transform in

~/PythoClient/carla/sensor.py

but cannot understand the values in _to_unreal_transform = Transform(Rotation(roll=-90, yaw=90), Scale(x=-1))_, such as -90,-1

besides, i find in #56 :

Given a 2D point p2d = [u,v,1], your world point position P = [X,Y,Z] will be:
P = ( inv(K) * p2d ) * depth

In my understanding, it gives the Transform from Pixel coordinate to Camera coordinate
so if i want to get results in World coordinate , i need the extrinsic matrix of my camera.
Is it correct?
thanks!

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[marcgpuig]

@Archiewyq Sorry for the late response.

Your thoughts are correct.
As you can see in the point_cloud_example.py on 0.8.X, we use this function to get the _camera to car_ transform:

Cheers!

[zrfreya]

@Archiewyq Sorry for the late response.

Your thoughts are correct.
As you can see in the point_cloud_example.py on 0.8.X, we use this function to get the _camera to car_ transform:

Cheers!

@marcgpuig Does this still work for carla 0.9.1 ?

[marcgpuig]

Hi @zrfreya, sorry for the late response.

Does this still work for carla 0.9.1 ?

Yes, it does still the same :)

[gxd1994]

Hi @zrfreya, sorry for the late response.

Does this still work for carla 0.9.1 ?

Yes, it does still the same :)

Does this still work for carla 0.9.5?

[jnd77]

Hi.
This graph is great. Would it be possible to add one section about transformations and axis system in the documentation, and include this graph ? I think every newcomer to Carla spends some time initially to figure it out by going through github issues. Would be really helpful to have it in one place. :)

Thanks !

[marcgpuig]

Hi @jnd77, I quickly made it a long time ago :grinning:
I'm sure that @sergi-e, our super docs guy, can do something better to add in our official docs.
Cheers!