Camera to Vehicle Transformation

$\displaystyle \bf p_{{c}}^{}$ = $\displaystyle \bf H_{{cv}}^{}$$\displaystyle \bf p_{{c}}^{}$ (10)
where
  1. $\bf p_{c}^{}$ is the position vector of p in camera coordinates.
  2. $\bf p_{v}^{}$ is the position vector of p in vehicle coordinates.
  3. $\bf H_{{cv}}^{}$ is the homogeneous matrix which takes $\bf p_{c}^{}$ to $\bf p_{v}^{}$.

    Since the camera was rigidly fixed with respect to the vehicle, this transformation remains the same across all the sequences. The values of the matrix are provided in the file cam_to_veh_homo.dat .