fix(t4dataset): fix lidar2ego in info file - #223
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Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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Description
Fixes the
lidar2egofield written into thelidar_sweepsentries of thedetection3d info files (
create_data_t4dataset.py→get_lidar_sweeps_info).Problem
lidar2egofor each sweep was built fromsensor2lidar_rotation/sensor2lidar_translation, which is the sweep → key-frame transform(
sweep → ego → global → ego' → key lidar) and therefore already containsego motion between the sweep and the key frame.
Semantically,
lidar2egomust be the sweep frame's static mountingextrinsic (
calibrated_sensor, i.e.sensor2ego). Consumers that composethe standard chain
Write what you change and why you change
Related Link
tier4/autoware-ml#82