project_matrix_ and pitch_diff_ in class LaneDetectionComponent

[jiayily]

Hi, what's the meaning of project_matrix_ and pitch_diff_ in class LaneDetectionComponent? They are set in InitProjectMatrix function as https://github.com/ApolloAuto/apollo/blob/master/modules/perception/onboard/component/lane_detection_component.cc#L528-L541 It seems that project_matrix_ represents transform from pixel coordinates in one camera to pixel coordinates in another camera. Likely, pitch_diff_ represents pitch angle difference between two cameras in the same word coordinate frame. Is that the truth? https://github.com/ApolloAuto/apollo/blob/master/modules/perception/onboard/component/lane_detection_component.cc#L159-L184

[zmmhz]

hello?你这个问题解决了吗？