Unverified Commit 4e28378d authored by Qing Lian's avatar Qing Lian Committed by GitHub
Browse files

[Fix] fix lidar2cam error in update_infos_to_v2.py for nus and lyft dataset. (#2110)

* fix lidar2cam error on nus and lyft

* fix lidar2cam error in sweep
parent 6bce8b3f
...@@ -302,8 +302,10 @@ def update_nuscenes_infos(pkl_path, out_dir): ...@@ -302,8 +302,10 @@ def update_nuscenes_infos(pkl_path, out_dir):
ori_sweep['ego2global_rotation'], ori_sweep['ego2global_rotation'],
ori_sweep['ego2global_translation']) ori_sweep['ego2global_translation'])
lidar2sensor = np.eye(4) lidar2sensor = np.eye(4)
lidar2sensor[:3, :3] = ori_sweep['sensor2lidar_rotation'].T rot = ori_sweep['sensor2lidar_rotation']
lidar2sensor[:3, 3] = -ori_sweep['sensor2lidar_translation'] trans = ori_sweep['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
temp_lidar_sweep['lidar_points'][ temp_lidar_sweep['lidar_points'][
'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist() 'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist()
temp_lidar_sweep['timestamp'] = ori_sweep['timestamp'] / 1e6 temp_lidar_sweep['timestamp'] = ori_sweep['timestamp'] / 1e6
...@@ -328,10 +330,10 @@ def update_nuscenes_infos(pkl_path, out_dir): ...@@ -328,10 +330,10 @@ def update_nuscenes_infos(pkl_path, out_dir):
ori_info_dict['cams'][cam]['sensor2ego_rotation'], ori_info_dict['cams'][cam]['sensor2ego_rotation'],
ori_info_dict['cams'][cam]['sensor2ego_translation']) ori_info_dict['cams'][cam]['sensor2ego_translation'])
lidar2sensor = np.eye(4) lidar2sensor = np.eye(4)
lidar2sensor[:3, :3] = ori_info_dict['cams'][cam][ rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation']
'sensor2lidar_rotation'].T trans = ori_info_dict['cams'][cam]['sensor2lidar_translation']
lidar2sensor[:3, 3] = -ori_info_dict['cams'][cam][ lidar2sensor[:3, :3] = rot.T
'sensor2lidar_translation'] lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
empty_img_info['lidar2cam'] = lidar2sensor.astype( empty_img_info['lidar2cam'] = lidar2sensor.astype(
np.float32).tolist() np.float32).tolist()
temp_data_info['images'][cam] = empty_img_info temp_data_info['images'][cam] = empty_img_info
...@@ -781,8 +783,10 @@ def update_lyft_infos(pkl_path, out_dir): ...@@ -781,8 +783,10 @@ def update_lyft_infos(pkl_path, out_dir):
ori_sweep['ego2global_rotation'], ori_sweep['ego2global_rotation'],
ori_sweep['ego2global_translation']) ori_sweep['ego2global_translation'])
lidar2sensor = np.eye(4) lidar2sensor = np.eye(4)
lidar2sensor[:3, :3] = ori_sweep['sensor2lidar_rotation'].T rot = ori_sweep['sensor2lidar_rotation']
lidar2sensor[:3, 3] = -ori_sweep['sensor2lidar_translation'] trans = ori_sweep['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
temp_lidar_sweep['lidar_points'][ temp_lidar_sweep['lidar_points'][
'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist() 'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist()
# bc-breaking: Timestamp has divided 1e6 in pkl infos. # bc-breaking: Timestamp has divided 1e6 in pkl infos.
...@@ -807,10 +811,10 @@ def update_lyft_infos(pkl_path, out_dir): ...@@ -807,10 +811,10 @@ def update_lyft_infos(pkl_path, out_dir):
ori_info_dict['cams'][cam]['sensor2ego_rotation'], ori_info_dict['cams'][cam]['sensor2ego_rotation'],
ori_info_dict['cams'][cam]['sensor2ego_translation']) ori_info_dict['cams'][cam]['sensor2ego_translation'])
lidar2sensor = np.eye(4) lidar2sensor = np.eye(4)
lidar2sensor[:3, :3] = ori_info_dict['cams'][cam][ rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation']
'sensor2lidar_rotation'].T trans = ori_info_dict['cams'][cam]['sensor2lidar_translation']
lidar2sensor[:3, 3] = -ori_info_dict['cams'][cam][ lidar2sensor[:3, :3] = rot.T
'sensor2lidar_translation'] lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
empty_img_info['lidar2cam'] = lidar2sensor.astype( empty_img_info['lidar2cam'] = lidar2sensor.astype(
np.float32).tolist() np.float32).tolist()
temp_data_info['images'][cam] = empty_img_info temp_data_info['images'][cam] = empty_img_info
......
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