文章目录
1. calibrated_sensor and ego_pose
在对gt信息进行转换时的代码，使用到了传感器标定信息，涉及到内外参。
def lidar_nusc_box_to_global(nusc, boxes, sample_token):
s_record = nusc.get('sample', sample_token)
sample_data_token = s_record['data']['LIDAR_TOP']
# 坐标系的转化主要是calibrated_sensor和ego_pose相关信息的提取
sd_record = nusc.get('sample_data', sample_data_token)
cs_record = nusc.get('calibrated_sensor', sd_record['calibrated_sensor_token'])