Comments (4)
@whyekit-motional Oh, I totally got it! Thanks a lot
from nuscenes-devkit.
@Nan-yxchen here are my responses to your queries:
- Yes,
box_velocity
should be in the global frame - Both methods are valid ways to calculate the velocity of the ego, and should produce similar values (but not necessarily equal)
- Yes, the x-axis points forward of the ego, the y-axis points to the left of the ego, and the z-axiz points upward of the ego
from nuscenes-devkit.
@whyekit-motional I got it, Thanks! But I still confused about some questions:
-
If I use the CAN_BUS information to calculate the velocity of ego, Is the CAN_BUS information in the global frame? And is the ego_pose.json information in the global frame too?
-
The x,y,z-axis in your response means the IMU coordinate and ego coordinate? I read other issues said that the x axis of global coordinate is going from the top left corner to the top right corner along the top edge of that rectangle, and the y axis of global coordinate is going from the top left corner to the bottom left corner along the left edge of that rectangle.
Greatly thanks in advance!!!
from nuscenes-devkit.
- If you read the velocity of the ego directly from the CAN bus, it will be in the ego frame - pls see https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/can_bus/README.md#pose
- I was referring to both the IMU frame and ego frame in my response (you can also visualize the various frames at https://www.nuscenes.org/static/media/data.9ef46c59.png)
from nuscenes-devkit.
Related Issues (20)
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