Confusing about variables in openlane data_loader

[usherbob]

Hi,

I'm struggling in understanding the preprocess of openlane dataloader. Would you please give some illustrations of my questions?

1. the meaning of cam_w_extrinsics, which seems like the extrinsic params of the camera;
2. the meaning of maxtrix_camera2camera_w ;
3. difference between cam_extrinsics and cam_extrinsics_persformer;
4. why line 176 uses cam_w_extrinsics once and line 178 also uses cam_extrinsics ?

[bigliuyq]

+1

[usherbob]

+1

Maybe you can first refer to OpenDriveLab/PersFormer_3DLane#4.

I'm still kind of confused now.

[cv-lab-x]

+1 @qinjian623

[EnternalTwinkle]

@usherbob Can you share the source code? Thanks，1017094591@qq.com