def _to_camera_coordinates(self, points):
# Converts points in lidar coordinates to points in camera coordinates.
# See CameraSetup in pylot/drivers/sensor_setup.py for coordinate
# axis orientations.
#
# The Velodyne coordinate space is defined as:
# +x into the screen, +y to the left, and +z up.
#
# Note: We're using the ROS velodyne driver coordinate
# system, not the one specified in the Velodyne manual.
# Link to the ROS coordinate system:
# https://www.ros.org/reps/rep-0103.html#axis-orientation
if self._lidar_setup.lidar_type == 'sensor.lidar.ray_cast':
if self._lidar_setup.legacy:
# The legacy CARLA Lidar coordinate space is defined as:
# +x to right, +y out of the screen, +z down.
to_camera_transform = Transform(matrix=np.array(
[[1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0], [0, 0, 0, 1]]))
else:
# The latest coordiante space is the unreal space.
to_camera_transform = Transform(matrix=np.array(
[[0, 1, 0, 0], [0, 0, -1, 0], [1, 0, 0, 0], [0, 0, 0, 1]]))
elif self._lidar_setup.lidar_type == 'velodyne':
to_camera_transform = Transform(matrix=np.array(
[[0, -1, 0, 0], [0, 0, -1, 0], [1, 0, 0, 0], [0, 0, 0, 1]]))
else:
raise ValueError('Unexpected lidar type {}'.format(
self._lidar_setup.lidar_type))
transformed_points = to_camera_transform.transform_points(points)
return transformed_points
def _to_camera_coordinates(self, points):
# Converts points in lidar coordinates to points in camera coordinates.
# See CameraSetup in pylot/simulation/sensor_setup.py for coordinate
# axis orientations.
to_camera_transform = Transform(matrix=np.array(
[[1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0], [0, 0, 0, 1]]))
transformed_points = to_camera_transform.transform_points(points)
return np.asarray([[loc.x, loc.y, loc.z]
for loc in transformed_points])
def _point_cloud_to_precog_coordinates(point_cloud):
"""Converts a LIDAR PointCloud, which is in camera coordinates,
to the coordinates used in the PRECOG dataset, which is LIDAR
coordinates but with the y- and z-coordinates negated (for
a reference describing PRECOG coordinates, see e.g. https://github.com/nrhine1/deep_imitative_models/blob/0d52edfa54cb79da28bd7cf965ebccbe8514fc10/dim/env/preprocess/carla_preprocess.py#L584) # noqa: E501
"""
to_precog_transform = Transform(matrix=np.array(
[[1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0], [0, 0, 0, 1]]))
transformed_point_cloud = to_precog_transform.transform_points(point_cloud)
return transformed_point_cloud
