def update_label_map(self, map, bev_corners, reg_target):
label_corners = (bev_corners / 4) / 0.1
label_corners[:, 1] += self.geometry['label_shape'][0] / 2
points = get_points_in_a_rotated_box(label_corners)
for p in points:
label_x = p[0]
label_y = p[1]
metric_x, metric_y = trasform_label2metric(np.array(p))
actual_reg_target = np.copy(reg_target)
actual_reg_target[2] = reg_target[2] - metric_x
actual_reg_target[3] = reg_target[3] - metric_y
actual_reg_target[4] = np.log(reg_target[4])
actual_reg_target[5] = np.log(reg_target[5])
map[label_y, label_x, 0] = 1.0
map[label_y, label_x, 1:7] = actual_reg_target
def update_label_map(self, map, bev_corners, reg_target):
'''
x forward y right --> x right y forward
'''
label_corners = (bev_corners / 4 ) / 0.1 # 4x downsamples
label_corners[:, 1] += self.geometry['label_shape'][0] / 2 # 200, 175, 7 ?????
points = get_points_in_a_rotated_box(label_corners)
for p in points:
label_x = p[0]
label_y = p[1]
metric_x, metric_y = trasform_label2metric(np.array(p))
actual_reg_target = np.copy(reg_target) # cos, sin, x, y, w,l
actual_reg_target[2] = reg_target[2] - metric_x # dx
actual_reg_target[3] = reg_target[3] - metric_y # dy
actual_reg_target[4] = np.log(reg_target[4]) # log(w)
actual_reg_target[5] = np.log(reg_target[5]) # log(l)
map[label_y, label_x, 0] = 1.0
map[label_y, label_x, 1:7] = actual_reg_target # x to right y to forward