image embedding calculation about cross_view_transformers HOT 2 CLOSED

You are correct in that E_inv already contains the translation.
so $d$ will be in the coordinate system of the ego-vehicle

But we actually want the image embedding to be in the reference frame of the particular camera -
which is why we subtract c_embed.
This is also why we subtract the same c_embed when computing the BEV embedding.

from cross_view_transformers.

But we actually want the image embedding to be in the reference frame of the particular camera - which is why we subtract c_embed. This is also why we subtract the same c_embed when computing the BEV embedding.

Hi,I still have some doubts about this.
Why only translation tk is considered and the rotation Rk is ignored?

from cross_view_transformers.