def test_calib(data_loader: ArgoverseTrackingLoader) -> None:
assert data_loader.calib
camera = "ring_front_center"
calib = data_loader.get_calibration(camera)
pc = data_loader.get_lidar(0)
uv = calib.project_ego_to_image(pc)
uv_cam = calib.project_ego_to_cam(pc)
assert (uv == calib.project_cam_to_image(uv_cam)).all
assert (uv_cam == calib.project_image_to_cam(uv)).all
assert (pc == calib.project_image_to_ego(uv)).all
def make_grid_ring_camera(argoverse_data: ArgoverseTrackingLoader,
idx: int) -> Tuple[plt.Figure, plt.Axes]:
f, ax = plt.subplots(3, 3, figsize=(20, 15))
camera = "ring_front_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 0].imshow(img_vis)
ax[0, 0].set_title("Ring Front Left")
ax[0, 0].axis("off")
camera = "ring_front_center"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 1].imshow(img_vis)
ax[0, 1].set_title("Right Front Center")
ax[0, 1].axis("off")
camera = "ring_front_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 2].imshow(img_vis)
ax[0, 2].set_title("Ring Front Right")
ax[0, 2].axis("off")
camera = "ring_side_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[1, 0].imshow(img_vis)
ax[1, 0].set_title("Ring Side Left")
ax[1, 0].axis("off")
ax[1, 1].axis("off")
camera = "ring_side_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[1, 2].imshow(img_vis)
ax[1, 2].set_title("Ring Side Right")
ax[1, 2].axis("off")
camera = "ring_rear_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[2, 0].imshow(img_vis)
ax[2, 0].set_title("Ring Rear Left")
ax[2, 0].axis("off")
ax[2, 1].axis("off")
camera = "ring_rear_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[2, 2].imshow(img_vis)
ax[2, 2].set_title("Ring Rear Right")
ax[2, 2].axis("off")
return f, ax
def test_calibration(data_loader: ArgoverseTrackingLoader) -> None:
for camera in CAMERA_LIST:
calib = data_loader.get_calibration(camera, "1")
assert calib.camera == camera