Actual FOV of the Back Camera is 70°? #1172
Description
According to #827 and #986 , we know that the current dataset uses a combination of 5 * 70° + 1 * 110° cameras. The lenses and camera models are as follows.
CAM: Basler acA1600-60gc
LENS1: Evetar Lens N118B05518W F1.8 f5.5mm 1/1.8"
LENS2: Evetar Lens M118B0418IR F1.8 f4mm 1/1.8"
However, looking at the actual images in the dataset, we see that the rear camera seems to actually use a 70° camera instead of 110°. We purchased the 110° camera and arranged it according to the extrinsic parameters in the dataset. However, it was found that the CAM_BACK images could not be pieced together with the other rear cameras, if nothing done to the image. If I change CAM_BACK lens to 70°, then CAM_BACK can be spliced with CAM_BACK_LEFT, CAM_BACK_RIGHT and get the same frame structure as in the dataset.
Why does it produce this phenomenon? I'm wondering if the actual lens models deployed in the nuscenes dataset collection vehicles match the public announcement?