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

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Dec 14, 2022
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[Fix] lidar2cam error in update_infos_to_v2.py for nus and lyft dataset. #2110

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0f607ef
fix lidar2cam error on nus and lyft
lianqing11 Dec 7, 2022
36bee67
fix lidar2cam error in sweep
lianqing11 Dec 9, 2022
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28 changes: 16 additions & 12 deletions tools/dataset_converters/update_infos_to_v2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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.
Expand All @@ -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
Expand Down