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[Fix] Add missing explanations of cam_intrinsic in the nuScenes dataset doc #1193

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Jan 26, 2022
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[Fix] Add missing explanations of cam_intrinsic in the nuScenes dataset doc #1193

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2 changes: 1 addition & 1 deletion docs/en/datasets/nuscenes_det.md
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Expand Up @@ -77,7 +77,7 @@ Next, we will elaborate on the details recorded in these info files.
- info['sweeps'][i]['sensor2lidar_translation']: The translation from the current sensor (for collecting the sweep data) to lidar. (1x3 list)
- info['sweeps'][i]['sensor2lidar_rotation']: The rotation from the current sensor (for collecting the sweep data) to lidar. (1x4 list in the quaternion format)
- info['cams']: Cameras calibration information. It contains six keys corresponding to each camera: `'CAM_FRONT'`, `'CAM_FRONT_RIGHT'`, `'CAM_FRONT_LEFT'`, `'CAM_BACK'`, `'CAM_BACK_LEFT'`, `'CAM_BACK_RIGHT'`.
Each dictionary contains detailed information following the above way for each sweep data (has the same keys for each information as above).
Each dictionary contains detailed information following the above way for each sweep data (has the same keys for each information as above). In addition, each camera has a key `'cam_intrinsic'` for recording the intrinsic parameters when projecting 3D points to each image plane.
- info['lidar2ego_translation']: The translation from lidar to ego vehicle. (1x3 list)
- info['lidar2ego_rotation']: The rotation from lidar to ego vehicle. (1x4 list in the quaternion format)
- info['ego2global_translation']: The translation from the ego vehicle to global coordinates. (1x3 list)
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2 changes: 1 addition & 1 deletion docs/zh_cn/datasets/nuscenes_det.md
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Expand Up @@ -78,7 +78,7 @@ mmdetection3d
- info['sweeps'][i]['sensor2lidar_translation']：从当前传感器（用于收集扫描数据）到激光雷达的转换（1x3 列表）。
- info['sweeps'][i]['sensor2lidar_rotation']：从当前传感器（用于收集扫描数据）到激光雷达的旋转（四元数格式的 1x4 列表）。
- info['cams']：相机校准信息。它包含与每个摄像头对应的六个键值： `'CAM_FRONT'`, `'CAM_FRONT_RIGHT'`, `'CAM_FRONT_LEFT'`, `'CAM_BACK'`, `'CAM_BACK_LEFT'`, `'CAM_BACK_RIGHT'`。
每个字典包含每个扫描数据按照上述方式的详细信息（每个信息的关键字与上述相同）。
每个字典包含每个扫描数据按照上述方式的详细信息（每个信息的关键字与上述相同）。除此之外，每个相机还包含了一个键值 `'cam_intrinsic'` 用来保存 3D 点投影到图像平面上需要的内参信息。
- info['lidar2ego_translation']：从激光雷达到自车的转换（1x3 列表）。
- info['lidar2ego_rotation']：从激光雷达到自车的旋转（四元数格式的 1x4 列表）。
- info['ego2global_translation']：从自车到全局坐标的转换（1x3 列表）。
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