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import os |
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import numpy as np |
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from pyquaternion import Quaternion |
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from nuplan.database.nuplan_db_orm.lidar_pc import LidarPc |
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from nuplan.database.nuplan_db_orm.lidar import Lidar |
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from navsim.common.extraction.helpers.canbus import CanBus |
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def obtain_sensor2top(lidar_token, log_db, l2e_t, l2e_r_mat, e2g_t, e2g_r_mat, args): |
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"""Obtain the info with RT matric from other sensors to Top LiDAR. |
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Args: |
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lidar_token (str): Sample data token corresponding to the |
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specific sensor type. |
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log_db: To obtain LiDAR of corresponding token. |
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l2e_t (np.ndarray): Translation from lidar to ego in shape (1, 3). |
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l2e_r_mat (np.ndarray): Rotation matrix from lidar to ego |
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in shape (3, 3). |
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e2g_t (np.ndarray): Translation from ego to global in shape (1, 3). |
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e2g_r_mat (np.ndarray): Rotation matrix from ego to global |
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in shape (3, 3). |
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Returns: |
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sweep (dict): Sweep information after transformation. |
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""" |
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lidar_pc = log_db.session.query(LidarPc).filter(LidarPc.token == lidar_token).all() |
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lidar_pc = lidar_pc[0] |
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can_bus = CanBus(lidar_pc).tensor |
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lidar_sensor = log_db.session.query(Lidar).filter(Lidar.token == lidar_pc.lidar_token).all() |
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lidar_sensor = lidar_sensor[0] |
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sweep = { |
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"prev_sweep_token": lidar_pc.prev_token, |
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"data_path": os.path.join(args.nuplan_sensor_path, lidar_pc.filename), |
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"type": lidar_sensor.channel, |
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"sample_data_token": lidar_pc.token, |
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"sensor2ego_translation": lidar_sensor.translation_np, |
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"sensor2ego_rotation": lidar_sensor.quaternion, |
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"ego2global_translation": can_bus[:3], |
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"ego2global_rotation": can_bus[3:7], |
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"timestamp": lidar_pc.timestamp, |
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} |
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l2e_r_s = sweep["sensor2ego_rotation"] |
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l2e_t_s = sweep["sensor2ego_translation"] |
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e2g_r_s = sweep["ego2global_rotation"] |
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e2g_t_s = sweep["ego2global_translation"] |
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l2e_r_s_mat = Quaternion(l2e_r_s).rotation_matrix |
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e2g_r_s_mat = Quaternion(e2g_r_s).rotation_matrix |
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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) |
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T = (l2e_t_s @ e2g_r_s_mat.T + e2g_t_s) @ ( |
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np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T |
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) |
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T -= ( |
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e2g_t @ (np.linalg.inv(e2g_r_mat).T @ np.linalg.inv(l2e_r_mat).T) |
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+ l2e_t @ np.linalg.inv(l2e_r_mat).T |
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) |
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sweep["sensor2lidar_rotation"] = R.T |
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sweep["sensor2lidar_translation"] = T |
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return sweep |
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