Camera calibration

[supercbt]

I want to use the WHALES dataset to perform a collaborative visual 2D detection task. I intend to project the 3D annotations onto 2D, but it seems that I haven't found the camera's intrinsic and extrinsic parameters. Could you please tell me where I can obtain them?

[chensiweiTHU]

We calculate the intrinsic and extrinsic parameters when we run the mmdetection3D dataset. As this is a generated dataset, all cameras share the same intrinsic, you can get it in tools/data_converter/whales.py. We calculate the extrinsic with the relative location of agents. You can read how we calculate the boxes in each vehicle's coordinate in tools/data_converter/whales.py and how we get the transformation matrix 'lidar2img' in mmdet3d_plugin/datasets/whales_dataset.py. We recommand you to use 'lidar2img' in datainfo dictionary by calling WhalesDataset.get_data_info function.