import pandas as pd
from alfred.fusion.kitti_fusion import load_pc_from_file
from alfred.vis.pointcloud.pointcloud_vis import draw_pcs_open3d
from alfred.fusion.common import compute_3d_box_lidar_coords
df = pd.read_csv('../data/dbsample3_size3_lr1_batch8_video_result.csv')
frame_list = []
for i in range(11001, 13001):
dv = df.loc[df['image_idx'] == i].values.tolist()
frame_list.append(dv)
for i in range(11001, 13001):
fileroot = '../data/test_video_filter/0'
filename = str(i)
filetile = '.bin'
filename = fileroot + filename + filetile
pcs = load_pc_from_file(filename)
pcs = pd.DataFrame(pcs[:, :3])
percentile = pcs[2].quantile(0.00016)
pcs = pcs.drop(index=pcs.loc[pcs[2] <= percentile].index).values
geometries = []
pcobj = o3d.geometry.PointCloud()
pcobj.points = o3d.utility.Vector3dVector(pcs)
geometries.append(pcobj)
for p in frame_list[i - 11001]:
xyz = np.array([p[2:5]])
lwh = np.array([p[5:8]])
r_y = [p[-1]]
pts3d = compute_3d_box_lidar_coords(xyz,
lwh,
angles=r_y,
# software distributed under the License is distributed on an
# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
# KIND, either express or implied. See the License for the
# specific language governing permissions and limitations
# under the License.
#
from alfred.vis.pointcloud.pointcloud_vis import draw_pcs_open3d
import open3d as o3d
import numpy as np
from alfred.fusion.common import draw_3d_box, compute_3d_box_lidar_coords
from alfred.fusion.kitti_fusion import load_pc_from_file
import os
v_f = os.path.join(os.path.dirname(os.path.abspath(__file__)),
'./data/000011.bin')
pcs = load_pc_from_file(v_f)
geometries = []
pcs = np.array(pcs[:, :3])
pcobj = o3d.geometry.PointCloud()
pcobj.points = o3d.utility.Vector3dVector(pcs)
geometries.append(pcobj)
# try getting 3d boxes coordinates
res = [[
4.481686, 5.147319, -1.0229858, 1.5728549, 3.646751, 1.5121397, 1.5486346
],
[
-2.5172017, 5.0262384, -1.0679419, 1.6241353, 4.0445814, 1.4938312,
1.620804
],
def load_bin(seq_name):
file_name = seq_name + ".bin"
v_f = os.path.join(os.path.dirname(os.path.abspath(__file__)),
"yourfilepath/to/lidar(.bin)", file_name)
pcs = load_pc_from_file(v_f)
return pcs
