def read_gt_label(gt_label, Rtilt):
cat_id = gt_label[0][2:-1]
loc_gt_w = [float(gt_label[1]), float(gt_label[2]), float(gt_label[3])]
loc_gt_w_tilt = np.dot(np.transpose(Rtilt), loc_gt_w)
dim_gt_w= [float(gt_label[4])*2, float(gt_label[5])*2, float(gt_label[6])*2] # 3D object dimensions: x길이, y길이, z길이
rot_gt_w = float(gt_label[7]) # Rotation around Y-axis in camera coords. [-Pi; Pi]
width = float(gt_label[10])
height = float(gt_label[11])
bbox2D_gt = [float(gt_label[8]), float(gt_label[9]), float(gt_label[8]) + width, float(
gt_label[9]) + height]
box_3d = compute_box_3d_sun_8(dim_gt_w, loc_gt_w, rot_gt_w, Rtilt)
# 이제 3d bounding box를 image에 투영시킴
return cat_id, [loc_gt_w_tilt, dim_gt_w, rot_gt_w, bbox2D_gt], box_3d, loc_gt_w_tilt
# 'occluded': occluded,
'location': location_changed,
'rotation_y': rotation_y
} #이미 rotation_y는 theta_c라서
# print("ann")
# print(ann)
ret['annotations'].append(ann)
# if DEBUG and cat_id in class_final:
if DEBUG:
# EXT = [45.75, -0.34, 0.005]
# calib[0][3] = 45.75
# calib[1][3] = -0.34
# calib[2][3] = 0.005
# img 보이기
print(cat_id)
box_3d = compute_box_3d_sun_8(dim, location, rotation_y, Rtilt)
print(dim, location, rotation_y, Rtilt)
print(box_3d)
box_2d = project_to_image(
box_3d, calib) # 이제 3d bounding box를 image에 투영시킴
print('box_2d', box_2d)
#이미지 보이기
c = np.cos(rotation_y)
s = np.sin(rotation_y)
image = draw_box_3d(image, box_2d)
print("alpha:" + str(alpha))
'''
