Issue regarding the calculation of ego_lcf_feat
tangtaogo opened this issue · comments
Tangtao commented
Thanks for your great work!
According to your code, velocity is calculated based on the ego's coordinates in the global frame (
However, acceleration is obtained from can_bus data (
), and according to https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/can_bus/README.md, can_bus data is in the ego's coordinate system.I would like to ask why the coordinates are inconsistent. Could it be that my understanding is incorrect?
Bo Jiang commented
ego_v is the absolute velocity of the ego vehicle, which is the same under the global coordinate system or the ego coordinate system:
and the x, y in ego_vx and ego_vy do not mean the axis of the global coordinate system, but the lateral and longitudinal velocity of the ego vehicle, which is calculated here:
Tangtao commented
Oh, got it! Thanks for your patient explanation!