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feat: implemented camera-lidar calibrator for the drs
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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sensor_calibration_manager/launch/drs/mapping_based_base_lidar_calibrator.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="base_frame" default="base_link"/> | ||
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| <arg name="rviz" default="true"/> | ||
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| <arg name="lost_frame_max_acceleration" default="10.0"/> | ||
| <arg name="calibration_skip_keyframes" default="7"/> | ||
| <arg name="mapping_registrator" default="ndt" description="ndt or gicp"/> | ||
| <arg name="mapping_min_range" default="5.0" description="minimum distance to use for mapping"/> | ||
| <arg name="mapping_max_range" default="80.0" description="maximum distance to use for mapping"/> | ||
|
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| <let name="calibrate_base_frame" value="true"/> | ||
| <arg name="base_lidar_crop_box_min_x" default="-5.0"/> | ||
| <arg name="base_lidar_crop_box_min_y" default="-5.0"/> | ||
| <arg name="base_lidar_crop_box_min_z" default="-5.0"/> | ||
| <arg name="base_lidar_crop_box_max_x" default="10.0"/> | ||
| <arg name="base_lidar_crop_box_max_y" default="5.0"/> | ||
| <arg name="base_lidar_crop_box_max_z" default="5.0"/> | ||
| <arg name="base_lidar_min_plane_points_percentage" default="10.0"/> | ||
| <arg name="base_lidar_max_inlier_distance" default="0.03"/> | ||
| <arg name="base_lidar_min_plane_points" default="500"/> | ||
| <arg name="base_lidar_max_cos_distance" default="0.2"/> | ||
| <arg name="base_lidar_max_iterations" default="500"/> | ||
| <arg name="base_lidar_overwrite_xy_yaw" default="false"/> | ||
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| <let name="calibration_camera_optical_link_frames" value="['']"/> | ||
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| <let name="calibration_lidar_frames" value="['']"/> | ||
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| <let name="mapping_lidar_frame" value="pandar_top"/> | ||
| <let name="mapping_pointcloud" value="/sensing/lidar/top/pointcloud_raw"/> | ||
| <let name="detected_objects" value="/perception/object_recognition/detection/objects"/> | ||
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| <let name="calibration_camera_info_topics" value="['']"/> | ||
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| <let name="calibration_image_topics" value="[ | ||
| '']"/> | ||
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| <let name="calibration_pointcloud_topics" value="['']"/> | ||
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| <!-- mapping based calibrator --> | ||
| <include file="$(find-pkg-share mapping_based_calibrator)/launch/calibrator.launch.xml"> | ||
| <arg name="ns" value=""/> | ||
| <arg name="calibration_service_name" value="calibrate_base_lidar"/> | ||
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| <arg name="rviz" value="$(var rviz)"/> | ||
| <arg name="base_frame" value="$(var base_frame)"/> | ||
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| <arg name="calibration_camera_optical_link_frames" value="$(var calibration_camera_optical_link_frames)"/> | ||
| <arg name="calibration_lidar_frames" value="$(var calibration_lidar_frames)"/> | ||
| <arg name="mapping_lidar_frame" value="$(var mapping_lidar_frame)"/> | ||
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| <arg name="mapping_pointcloud" value="$(var mapping_pointcloud)"/> | ||
| <arg name="detected_objects" value="$(var detected_objects)"/> | ||
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| <arg name="calibration_camera_info_topics" value="$(var calibration_camera_info_topics)"/> | ||
| <arg name="calibration_image_topics" value="$(var calibration_image_topics)"/> | ||
| <arg name="calibration_pointcloud_topics" value="$(var calibration_pointcloud_topics)"/> | ||
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| <arg name="mapping_registrator" value="$(var mapping_registrator)"/> | ||
| <arg name="mapping_min_range" value="$(var mapping_min_range)"/> | ||
| <arg name="mapping_max_range" value="$(var mapping_max_range)"/> | ||
| <arg name="lost_frame_max_acceleration" value="$(var lost_frame_max_acceleration)"/> | ||
| <arg name="calibration_skip_keyframes" value="$(var calibration_skip_keyframes)"/> | ||
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| <arg name="base_lidar_crop_box_min_x" value="$(var base_lidar_crop_box_min_x)"/> | ||
| <arg name="base_lidar_crop_box_min_y" value="$(var base_lidar_crop_box_min_y)"/> | ||
| <arg name="base_lidar_crop_box_min_z" value="$(var base_lidar_crop_box_min_z)"/> | ||
| <arg name="base_lidar_crop_box_max_x" value="$(var base_lidar_crop_box_max_x)"/> | ||
| <arg name="base_lidar_crop_box_max_y" value="$(var base_lidar_crop_box_max_y)"/> | ||
| <arg name="base_lidar_crop_box_max_z" value="$(var base_lidar_crop_box_max_z)"/> | ||
| <arg name="base_lidar_min_plane_points_percentage" value="$(var base_lidar_min_plane_points_percentage)"/> | ||
| <arg name="base_lidar_max_inlier_distance" value="$(var base_lidar_max_inlier_distance)"/> | ||
| <arg name="base_lidar_min_plane_points" value="$(var base_lidar_min_plane_points)"/> | ||
| <arg name="base_lidar_max_cos_distance" value="$(var base_lidar_max_cos_distance)"/> | ||
| <arg name="base_lidar_max_iterations" value="$(var base_lidar_max_iterations)"/> | ||
| <arg name="base_lidar_overwrite_xy_yaw" value="$(var base_lidar_overwrite_xy_yaw)"/> | ||
| </include> | ||
| </launch> |
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sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml
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| <launch> | ||
| <arg name="camera_name" default="camera0"> | ||
| <choice value="camera0"/> | ||
| <choice value="camera1"/> | ||
| <choice value="camera2"/> | ||
| <choice value="camera3"/> | ||
| <choice value="camera4"/> | ||
| <choice value="camera5"/> | ||
| <choice value="camera6"/> | ||
| <choice value="camera7"/> | ||
| </arg> | ||
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| <arg name="view_only_ui" default="true" description="By default we use a minimal UI"/> | ||
| <arg name="calibration_pairs" default="14" description="Number of lidar-image pairs for the calibration to converge"/> | ||
| <arg name="calibration_pairs_min_distance" default="0.3" description="Minimum allowed between a new detection and current pairs"/> | ||
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| <!-- we do not use the standard image_raw name to avoid naming conflicts --> | ||
| <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/> | ||
| <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/> | ||
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| <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/> | ||
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| <let name="lidar_frame" value="lidar_front" if="$(eval "'$(var camera_name)' == 'camera0' ")"/> | ||
| <let name="lidar_frame" value="lidar_front" if="$(eval "'$(var camera_name)' == 'camera1' ")"/> | ||
| <let name="lidar_frame" value="lidar_right" if="$(eval "'$(var camera_name)' == 'camera2' ")"/> | ||
| <let name="lidar_frame" value="lidar_right" if="$(eval "'$(var camera_name)' == 'camera3' ")"/> | ||
| <let name="lidar_frame" value="lidar_rear" if="$(eval "'$(var camera_name)' == 'camera4' ")"/> | ||
| <let name="lidar_frame" value="lidar_rear" if="$(eval "'$(var camera_name)' == 'camera5' ")"/> | ||
| <let name="lidar_frame" value="lidar_left" if="$(eval "'$(var camera_name)' == 'camera6' ")"/> | ||
| <let name="lidar_frame" value="lidar_left" if="$(eval "'$(var camera_name)' == 'camera7' ")"/> | ||
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| <let name="pointcloud_topic" value="/sensing/lidar/front/nebula_points" if="$(eval "'$(var lidar_frame)' == 'lidar_front' ")"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/rear/nebula_points" if="$(eval "'$(var lidar_frame)' == 'lidar_rear' ")"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/left/nebula_points" if="$(eval "'$(var lidar_frame)' == 'lidar_left' ")"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/right/nebula_points" if="$(eval "'$(var lidar_frame)' == 'lidar_right' ")"/> | ||
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| <let name="camera_frame" value="$(var camera_name)/camera_link"/> | ||
| <let name="camera_optical_frame" value="$(var camera_name)/camera_optical_link"/> | ||
| <let name="rviz_profile" value="$(find-pkg-share tag_based_pnp_calibrator)/rviz/default_profile.rviz"/> | ||
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| <let name="lidar_model" value="aeva_aeries2" if="$(eval "'$(var lidar_frame)' == 'lidar_front' ")"/> | ||
| <let name="lidar_model" value="seyond_falcon" if="$(eval "'$(var lidar_frame)' == 'lidar_rear' ")"/> | ||
| <let name="lidar_model" value="seyond_robin_w" if="$(eval "'$(var lidar_frame)' == 'lidar_left' ")"/> | ||
| <let name="lidar_model" value="seyond_robin_w" if="$(eval "'$(var lidar_frame)' == 'lidar_right' ")"/> | ||
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| <let name="use_rectified_image" value="false"/> | ||
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| <group> | ||
| <!-- image decompressor --> | ||
| <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen"> | ||
| <remap from="decompressor/input/compressed_image" to="$(var image_compressed_topic)"/> | ||
| op | ||
| <remap from="decompressor/output/raw_image" to="$(var image_decompressed_topic)"/> | ||
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| <param name="encoding" value="default"/> | ||
| </node> | ||
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| <!-- tag based calibrator --> | ||
| <include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/calibrator.launch.xml"> | ||
| <arg name="image_topic" value="$(var image_decompressed_topic)"/> | ||
| <arg name="camera_info_topic" value="$(var camera_info_topic)"/> | ||
| <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/> | ||
| <arg name="pointcloud_topic_ex" value="$(var camera_info_topic)"/> | ||
| <arg name="lidar_model" value="$(var lidar_model)"/> | ||
| <arg name="calibration_service_name" value="calibrate_camera_lidar"/> | ||
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| <arg name="use_rectified_image" value="$(var use_rectified_image)"/> | ||
| <arg name="calibration_pairs" value="$(var calibration_pairs)"/> | ||
| <arg name="calibration_pairs_min_distance" value="$(var calibration_pairs_min_distance)"/> | ||
| </include> | ||
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| <!-- interactive calibrator --> | ||
| <node pkg="interactive_camera_lidar_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen" if="$(eval "'$(var view_only_ui)' == 'false' ")"> | ||
| <remap from="pointcloud" to="$(var pointcloud_topic)"/> | ||
| <remap from="image" to="$(var image_compressed_topic)"/> | ||
| <remap from="camera_info" to="$(var camera_info_topic)"/> | ||
| <remap from="calibration_points_input" to="calibration_points"/> | ||
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| <param name="camera_frame" value="$(var camera_frame)"/> | ||
| <param name="use_calibration_api" value="false"/> | ||
| <param name="can_publish_tf" value="false"/> | ||
| </node> | ||
|
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| <!-- camera view --> | ||
| <node pkg="tier4_calibration_views" exec="image_view_node.py" name="image_view_node_py" output="screen" if="$(eval "'$(var view_only_ui)' == 'true' ")"> | ||
| <remap from="pointcloud" to="$(var pointcloud_topic)"/> | ||
| <remap from="image" to="$(var image_compressed_topic)"/> | ||
| <remap from="camera_info" to="$(var camera_info_topic)"/> | ||
| <remap from="calibration_points_input" to="calibration_points"/> | ||
| </node> | ||
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| <!-- create a placeholder lidar frame to make the rviz profile generic --> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="0 0 0 0 0 0 $(var lidar_frame) lidar_frame"/> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id base_link --x 0.0 --y 0.0 --z -2.0 --yaw 0.0 --roll 0.0 --pitch 0.0" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw 1.54 --roll 0.0 --pitch 0.0" | ||
| if="$(eval "'$(var lidar_frame)' == 'lidar_front' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw 0.523599 --roll 0.0 --pitch 0.523599" | ||
| if="$(eval "'$(var camera_name)' == 'camera2' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw -0.523599 --roll 0.0 --pitch 0.523599" | ||
| if="$(eval "'$(var camera_name)' == 'camera3' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw 0.0 --roll 0.0 --pitch 0.0" | ||
| if="$(eval "'$(var lidar_frame)' == 'lidar_rear' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw 0.523599 --roll 0.0 --pitch 0.523599" | ||
| if="$(eval "'$(var camera_name)' == 'camera6' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var lidar_frame) --child-frame-id $(var camera_frame) --x 0.0 --y 0.0 --z 0.0 --yaw -0.523599 --roll 0.0 --pitch 0.523599" | ||
| if="$(eval "'$(var camera_name)' == 'camera7' ")" | ||
| /> | ||
| <node | ||
| pkg="tf2_ros" | ||
| exec="static_transform_publisher" | ||
| name="tf_broadcaster" | ||
| output="screen" | ||
| args="--frame-id $(var camera_frame) --child-frame-id $(var camera_optical_frame) --x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5" | ||
| /> | ||
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| <!-- remap the pointcloud topic to make the rviz profile generic --> | ||
| <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)"> | ||
| <remap from="pointcloud_topic_placeholder" to="$(var pointcloud_topic)"/> | ||
| </node> | ||
| </group> | ||
| </launch> |
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sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py
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sensor_calibration_manager/sensor_calibration_manager/calibrators/drs/__init__.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| from .mapping_based_lidar_lidar_calibrator import MappingBasedLidarLidarCalibrator | ||
| from .tag_based_pnp_calibrator import TagBasedPNPCalibrator | ||
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| __all__ = [ | ||
| "MappingBasedLidarLidarCalibrator", | ||
| "TagBasedPNPCalibrator", | ||
| ] |
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...anager/sensor_calibration_manager/calibrators/drs/mapping_based_lidar_lidar_calibrator.py
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| #!/usr/bin/env python3 | ||
|
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| # Copyright 2024 Tier IV, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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| from typing import Dict | ||
|
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| import numpy as np | ||
|
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| from sensor_calibration_manager.calibrator_base import CalibratorBase | ||
| from sensor_calibration_manager.calibrator_registry import CalibratorRegistry | ||
| from sensor_calibration_manager.ros_interface import RosInterface | ||
| from sensor_calibration_manager.types import FramePair | ||
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| @CalibratorRegistry.register_calibrator( | ||
| project_name="drs", calibrator_name="mapping_based_lidar_lidar_calibrator" | ||
| ) | ||
| class MappingBasedLidarLidarCalibrator(CalibratorBase): | ||
| required_frames = [] | ||
|
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| def __init__(self, ros_interface: RosInterface, **kwargs): | ||
| super().__init__(ros_interface) | ||
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| self.sensor_kit_frame = "sensor_kit_base_link" | ||
| self.mapping_lidar_frame = "pandar_top" | ||
| self.calibration_lidar_frames = ["pandar_front", "pandar_left", "pandar_right"] | ||
| self.calibration_base_lidar_frames = [ | ||
| "pandar_front_base_link", | ||
| "pandar_left_base_link", | ||
| "pandar_right_base_link", | ||
| ] | ||
|
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| self.required_frames.extend( | ||
| [ | ||
| self.sensor_kit_frame, | ||
| self.mapping_lidar_frame, | ||
| *self.calibration_lidar_frames, | ||
| *self.calibration_base_lidar_frames, | ||
| ] | ||
| ) | ||
|
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| self.add_calibrator( | ||
| service_name="calibrate_lidar_lidar", | ||
| expected_calibration_frames=[ | ||
| FramePair(parent=self.mapping_lidar_frame, child=calibration_lidar_frame) | ||
| for calibration_lidar_frame in self.calibration_lidar_frames | ||
| ], | ||
| ) | ||
|
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| def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]): | ||
| sensor_kit_to_lidar_transform = self.get_transform_matrix( | ||
| self.sensor_kit_frame, self.mapping_lidar_frame | ||
| ) | ||
|
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| calibration_lidar_to_base_lidar_transforms = [ | ||
| self.get_transform_matrix(calibration_lidar_frame, calibration_base_lidar_frame) | ||
| for calibration_lidar_frame, calibration_base_lidar_frame in zip( | ||
| self.calibration_lidar_frames, self.calibration_base_lidar_frames | ||
| ) | ||
| ] | ||
|
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| sensor_kit_to_calibration_lidar_transforms = [ | ||
| sensor_kit_to_lidar_transform | ||
| @ calibration_transforms[self.mapping_lidar_frame][calibration_lidar_frame] | ||
| @ calibration_lidar_to_base_lidar_transform | ||
| for calibration_lidar_frame, calibration_lidar_to_base_lidar_transform in zip( | ||
| self.calibration_lidar_frames, calibration_lidar_to_base_lidar_transforms | ||
| ) | ||
| ] | ||
|
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| result = { | ||
| self.sensor_kit_frame: { | ||
| calibration_base_lidar_frame: transform | ||
| for calibration_base_lidar_frame, transform in zip( | ||
| self.calibration_base_lidar_frames, sensor_kit_to_calibration_lidar_transforms | ||
| ) | ||
| } | ||
| } | ||
|
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| return result |
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