旋转矩阵

[suyu-star]

def get_alphas(self, gt_bboxes_3d, input_dict):
        lidar2camera_axis = np.array([1,  0,  0,  0,
                                      0,  0, -1,  0,
                                      0,  1,  0,  0,
                                      0,  0,  0,  1]).reshape(4, 4)
        extrins = input_dict['extrinsics']
        alpha_cameras = []

您好，在获取alpha角的这段代码中，观察到lidar到相机的矩阵如上述所示，但是如果是坐标系轴的变换

        lidar2camera_axis = np.array([0,  -1,  0,  0,
                                      0,  0, -1,  0,
                                      1,  0,  0,  0,
                                      0,  0,  0,  1]).reshape(4, 4)

应该是这样更为合理吧，十分期待您的回复