chore: updated misleading names

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
tier4 · Apr 9, 2024 · 45453cf · 45453cf
1 parent d33e95d
commit 45453cf
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/...alibration_manager/sensor_calibration_manager/calibrators/rdv/tag_based_pnp_calibrator.py b/...alibration_manager/sensor_calibration_manager/calibrators/rdv/tag_based_pnp_calibrator.py
@@ -44,7 +44,7 @@ def __init__(self, ros_interface: RosInterface, **kwargs):
         )
 
     def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
-        camera_to_lidar_transform = calibration_transforms[
+        optical_link_to_lidar_transform = calibration_transforms[
             f"{self.camera_name}/camera_optical_link"
         ]["pandar_top"]
 
@@ -58,7 +58,7 @@ def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
 
         sensor_kit_camera_link_transform = np.linalg.inv(
             camera_to_optical_link_transform
-            @ camera_to_lidar_transform
+            @ optical_link_to_lidar_transform
             @ np.linalg.inv(sensor_kit_to_lidar_transform)
         )
 

diff --git a/...calibration_manager/sensor_calibration_manager/calibrators/x2/tag_based_pnp_calibrator.py b/...calibration_manager/sensor_calibration_manager/calibrators/x2/tag_based_pnp_calibrator.py
@@ -65,7 +65,7 @@ def __init__(self, ros_interface: RosInterface, **kwargs):
         )
 
     def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
-        camera_to_lidar_transform = calibration_transforms[
+        optical_link_to_lidar_transform = calibration_transforms[
             f"{self.camera_name}/camera_optical_link"
         ][self.lidar_frame]
 
@@ -79,7 +79,7 @@ def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
 
         sensor_kit_camera_link_transform = np.linalg.inv(
             camera_to_optical_link_transform
-            @ camera_to_lidar_transform
+            @ optical_link_to_lidar_transform
             @ np.linalg.inv(sensor_kit_to_lidar_transform)
         )
 

diff --git a/...alibration_manager/sensor_calibration_manager/calibrators/xx1/tag_based_pnp_calibrator.py b/...alibration_manager/sensor_calibration_manager/calibrators/xx1/tag_based_pnp_calibrator.py
@@ -44,7 +44,7 @@ def __init__(self, ros_interface: RosInterface, **kwargs):
         )
 
     def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
-        camera_to_lidar_transform = calibration_transforms[
+        optical_link_to_lidar_transform = calibration_transforms[
             f"{self.camera_name}/camera_optical_link"
         ]["velodyne_top"]
         sensor_kit_to_lidar_transform = self.get_transform_matrix(
@@ -55,7 +55,7 @@ def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
         )
         sensor_kit_camera_link_transform = np.linalg.inv(
             camera_to_optical_link_transform
-            @ camera_to_lidar_transform
+            @ optical_link_to_lidar_transform
             @ np.linalg.inv(sensor_kit_to_lidar_transform)
         )
 

diff --git a/...bration_manager/sensor_calibration_manager/calibrators/xx1_15/tag_based_pnp_calibrator.py b/...bration_manager/sensor_calibration_manager/calibrators/xx1_15/tag_based_pnp_calibrator.py
@@ -44,7 +44,7 @@ def __init__(self, ros_interface: RosInterface, **kwargs):
         )
 
     def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
-        camera_to_lidar_transform = calibration_transforms[
+        optical_link_to_lidar_transform = calibration_transforms[
             f"{self.camera_name}/camera_optical_link"
         ]["velodyne_top"]
         sensor_kit_to_lidar_transform = self.get_transform_matrix(
@@ -55,7 +55,7 @@ def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
         )
         sensor_kit_camera_link_transform = np.linalg.inv(
             camera_to_optical_link_transform
-            @ camera_to_lidar_transform
+            @ optical_link_to_lidar_transform
             @ np.linalg.inv(sensor_kit_to_lidar_transform)
         )