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Your vehicle has its right - hand base coordinate frame defined with the x - axis pointing forward into the driving direction and the z
Your vehicle has its righthand base coordinate frame defined with the xaxis pointing forward into the driving direction and the zaxis upwards.
A camera is positioned on the vehicle as follows, in the vehicle coordinate frame:
x mm y mm z mm
and the Euler angles ZYX
roll deg pitch deg yaw deg
Assume the camera has no distortion, a resolution of px times px and the principal point cx and cy and the focal lengths fx and fy are given by:
cx px cy px fx px fy px
The point uv is defined to be uvcxcy as commonly used.
Within the camera image plane, zaxis in viewing direction, an object center is detected at pixel:
u px v px
Another sensor determines the euclidian distance of the object to the camera frame as:
d m
Calculate the D position of the object in the vehicle coordinate frame in meter. Round to three decimals. Give the solution in the following format: x y z eg
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