def test_compute_box_3d(self):
# read in calib file and label file and mat file
calib_frame = calib.read_calibration(self.test_data_calib_dir, 724513)
objects = obj_utils.read_labels(self.test_data_label_dir, 5258)
label_true = scipy.io.loadmat(self.test_data_dir + '/compute3d.mat')
# compute
corners_3d = obj_utils.compute_box_corners_3d(objects[0])
corners, face_idx = obj_utils.project_box3d_to_image(
corners_3d, calib_frame.p2)
# compare data
np.testing.assert_almost_equal(corners, label_true['corners'])
orientation = obj_utils.compute_orientation_3d(objects[0], calib_frame.p2)
# -1 for index in python vs matlab
self.assertTrue((face_idx == label_true['face_idx']-1).all())
# Test orientation
self.assertAlmostEqual(orientation.all(),
label_true['orientation'].all())
return
def draw_box_3d(ax,
obj,
p,
show_orientation=True,
color_table=None,
line_width=3,
double_line=True,
box_color=None):
"""Draws the 3D boxes given the subplot, object label,
and frame transformation matrix
:param ax: subplot handle
:param obj: object file to draw bounding box
:param p:stereo frame transformation matrix
:param show_orientation: optional, draw a line showing orientaion
:param color_table: optional, a custom table for coloring the boxes,
should have 4 values to match the 4 truncation values. This color
scheme is used to display boxes colored based on difficulty.
:param line_width: optional, custom line width to draw the box
:param double_line: optional, overlays a thinner line inside the box lines
:param box_color: optional, use a custom color for box (instead of
the default color_table.
"""
corners3d = obj_utils.compute_box_corners_3d(obj)
corners, face_idx = obj_utils.project_box3d_to_image(corners3d, p)
# define colors
if color_table:
if len(color_table) != 4:
raise ValueError('Invalid color table length, must be 4')
else:
color_table = ["#00cc00", 'y', 'r', 'w']
trun_style = ['solid', 'dashed']
trc = int(obj.truncation > 0.1)
if len(corners) > 0:
for i in range(4):
x = np.append(corners[0, face_idx[i, ]], corners[0, face_idx[i,
0]])
y = np.append(corners[1, face_idx[i, ]], corners[1, face_idx[i,
0]])
# Draw the boxes
if box_color is None:
box_color = color_table[int(obj.occlusion)]
ax.plot(x,
y,
linewidth=line_width,
color=box_color,
linestyle=trun_style[trc])
# Draw a thinner second line inside
if double_line:
ax.plot(x, y, linewidth=line_width / 3.0, color='b')
if show_orientation:
# Compute orientation 3D
orientation = obj_utils.compute_orientation_3d(obj, p)
if orientation is not None:
x = np.append(orientation[0, ], orientation[0, ])
y = np.append(orientation[1, ], orientation[1, ])
# draw the boxes
ax.plot(x, y, linewidth=4, color='w')
ax.plot(x, y, linewidth=2, color='k')