def normalize_input(self, pc, pred_box_center, pred_box_angle, gt_box_center=None, gt_box_angle=None):
# translate center to reference point
# rotate coordinate to reference angle
ref_center = pred_box_center
rot_angle = pred_box_angle
pc = pc - ref_center
pc = rotate_pc_along_y(pc, rot_angle)
if gt_box_center is not None and gt_box_angle is not None:
gt_box_center = gt_box_center - ref_center
gt_box_angle = gt_box_angle - pred_box_angle
gt_box_center = rotate_pc_along_y(gt_box_center[np.newaxis, :], rot_angle).squeeze(0)
return pc, gt_box_center, gt_box_angle
def get_center_view_box3d(self, box3d_center, box3d_angle, ref_center, ref_angle):
box3d_center = box3d_center - ref_center
box3d_angle = box3d_angle - ref_angle
box3d_center = rotate_pc_along_y(box3d_center[np.newaxis, :], ref_angle).squeeze(0)
return box3d_center, box3d_angle
def get_center_view(self, point_set, frustum_angle):
''' Frustum rotation of point clouds.
NxC points with first 3 channels as XYZ
z is facing forward, x is left ward, y is downward
'''
# Use np.copy to avoid corrupting original data
point_set = np.copy(point_set)
return rotate_pc_along_y(point_set, self.get_center_view_rot_angle(frustum_angle))
def from_prediction_to_label_format(center, angle, size, rot_angle, ref_center):
''' Convert predicted box parameters to label format. '''
l, w, h = size
ry = angle + rot_angle
tx, ty, tz = rotate_pc_along_y(np.expand_dims(center, 0), -rot_angle).squeeze()
tx = tx + ref_center[0]
ty = ty + ref_center[1]
tz = tz + ref_center[2]
ty += h / 2.0
return h, w, l, tx, ty, tz, ry
def get_center_view_box3d(self, index):
''' Frustum rotation of 3D bounding box corners. '''
box3d = self.box3d_list[index]
box3d_center_view = np.copy(box3d)
return rotate_pc_along_y(box3d_center_view,
self.get_center_view_rot_angle(index))
def get_center_view_box3d_center(self, index):
''' Frustum rotation of 3D bounding box center. '''
box3d_center = (self.box3d_list[index][0, :] +
self.box3d_list[index][6, :]) / 2.0
return rotate_pc_along_y(np.expand_dims(
box3d_center, 0), self.get_center_view_rot_angle(index)).squeeze()
def get_center_view_point(self, point, ref_center, ref_angle):
point = point - ref_center
point = rotate_pc_along_y(point, ref_angle)
return point
def get_center_view_box3d(self, box3d, frustum_angle):
''' Frustum rotation of 3D bounding box corners. '''
box3d = box3d
box3d_center_view = np.copy(box3d)
return rotate_pc_along_y(box3d_center_view,
self.get_center_view_rot_angle(frustum_angle))
def get_center_view_box3d_center(self, box3d, frustum_angle):
''' Frustum rotation of 3D bounding box center. '''
box3d_center = (box3d[0, :] + box3d[6, :]) / 2.0
return rotate_pc_along_y(
np.expand_dims(box3d_center, 0),
self.get_center_view_rot_angle(frustum_angle)).squeeze()