[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

tools/dataset_converters/update_infos_to_v2.py

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