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import os
import numpy as np
from pyquaternion import Quaternion
from nuplan.database.nuplan_db_orm.lidar_pc import LidarPc
from nuplan.database.nuplan_db_orm.lidar import Lidar
from navsim.common.extraction.helpers.canbus import CanBus
def obtain_sensor2top(lidar_token, log_db, l2e_t, l2e_r_mat, e2g_t, e2g_r_mat, args):
"""Obtain the info with RT matric from other sensors to Top LiDAR.
Args:
lidar_token (str): Sample data token corresponding to the
specific sensor type.
log_db: To obtain LiDAR of corresponding token.
l2e_t (np.ndarray): Translation from lidar to ego in shape (1, 3).
l2e_r_mat (np.ndarray): Rotation matrix from lidar to ego
in shape (3, 3).
e2g_t (np.ndarray): Translation from ego to global in shape (1, 3).
e2g_r_mat (np.ndarray): Rotation matrix from ego to global
in shape (3, 3).
Returns:
sweep (dict): Sweep information after transformation.
"""
lidar_pc = log_db.session.query(LidarPc).filter(LidarPc.token == lidar_token).all()
lidar_pc = lidar_pc[0]
can_bus = CanBus(lidar_pc).tensor
lidar_sensor = log_db.session.query(Lidar).filter(Lidar.token == lidar_pc.lidar_token).all()
lidar_sensor = lidar_sensor[0]
sweep = {
"prev_sweep_token": lidar_pc.prev_token,
"data_path": os.path.join(args.nuplan_sensor_path, lidar_pc.filename),
"type": lidar_sensor.channel,
"sample_data_token": lidar_pc.token,
"sensor2ego_translation": lidar_sensor.translation_np,
"sensor2ego_rotation": lidar_sensor.quaternion,
"ego2global_translation": can_bus[:3],
"ego2global_rotation": can_bus[3:7],
"timestamp": lidar_pc.timestamp,
}
l2e_r_s = sweep["sensor2ego_rotation"]
l2e_t_s = sweep["sensor2ego_translation"]
e2g_r_s = sweep["ego2global_rotation"]
e2g_t_s = sweep["ego2global_translation"]
# obtain the RT from sensor to Top LiDAR
# sweep->ego->global->ego'->lidar
l2e_r_s_mat = Quaternion(l2e_r_s).rotation_matrix
e2g_r_s_mat = Quaternion(e2g_r_s).rotation_matrix
R = (l2e_r_s_mat.T @ e2g_r_s_mat.T) @ (np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T)
T = (l2e_t_s @ e2g_r_s_mat.T + e2g_t_s) @ (
np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T
)
T -= (
e2g_t @ (np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T)
+ l2e_t @ np.linalg.inv(l2e_r_mat).T
)
sweep["sensor2lidar_rotation"] = R.T # points @ R.T + T
sweep["sensor2lidar_translation"] = T
return sweep
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