fix carla extrinsic

OpenDriveLab · May 10, 2023 · d8f2244 · d8f2244
1 parent 82e0d1b
commit d8f2244
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/stp3/datas/CarlaData.py b/stp3/datas/CarlaData.py
@@ -298,6 +298,7 @@ def get_trajectory_sampling(self, v0, steering):
     def get_cam_para(self):
         def get_cam_to_ego(dof):
             yaw = dof[5]
+            yaw = yaw * (np.pi / 180)
             rotation = Quaternion(scalar=np.cos(yaw/2), vector=[0, 0, np.sin(yaw/2)])
             translation = np.array(dof[:3])[:, None]
             cam_to_ego = np.vstack([