def __init__(self, figsize=(15, 15), bbox_score_threshold=0.01, sampler_num_samples=8, draw_3d_boxes=True): """Initialize CameraVisualization. Args: figsize: (w, h) float tuple. This is the size of the rendered figure in inches. A dpi=100 is used in plot.Image; note that the axes and title will take up space in the final rendering. If None, this will default to (image_width / 100 * 1.5, image_height / 100 * 1.5). bbox_score_threshold: The threshold over which bboxes will be drawn on the image. sampler_num_samples: Number of batches to keep for visualizing. draw_3d_boxes: Whether to draw 2d or 3d bounding boxes. 3d bounding boxes depict the 8 corners of the bounding box, whereas the 2d bounding boxes depict the extrema x and y dimensions of the boxes on the image plane. """ self._figsize = figsize self._bbox_score_threshold = bbox_score_threshold, self._sampler = py_utils.UniformSampler( num_samples=sampler_num_samples) self._draw_3d_boxes = draw_3d_boxes self._summary = None
def __init__(self, top_down_transform, class_id_to_name=None, image_height=1536, image_width=1024, figsize=None, ground_removal_threshold=-1.35, sampler_num_samples=8): """Initialize TopDownVisualizationMetric. Args: top_down_transform: transform_util.Transform object that specifies how to transform a coordinate in the world coordinate to the top down projection. See documentation for transform_util.MakeCarToImageTransform for more details on configuration. class_id_to_name: Dictionary mapping from class id to name. image_height: int image height. image_width: int image width. figsize: (w, h) float tuple. This is the size of the rendered figure in inches. A dpi=100 is used in plot.Image; note that the axes and title will take up space in the final rendering. If None, this will default to (image_width / 100 * 1.5, image_height / 100 * 1.5). ground_removal_threshold: Floating point value used to color ground points differently. Defaults to -1.35 which happens to work well for KITTI. sampler_num_samples: Number of batches to keep for visualizing. """ self._class_id_to_name = class_id_to_name or {} self._image_width = image_width self._image_height = image_height figsize = figsize or (image_width / 100. * 1.5, image_height / 100. * 1.5) self._figsize = figsize self._ground_removal_threshold = ground_removal_threshold self._sampler = py_utils.UniformSampler( num_samples=sampler_num_samples) self._top_down_transform = top_down_transform self._summary = None
def Summary(self, name): if self._summary is None: self._summary = self._CreateSummary(name) self._sampler = py_utils.UniformSampler( num_samples=self.params.num_samples) return self._summary
def __init__(self, params): super().__init__(params) p = self.params self._sampler = py_utils.UniformSampler(num_samples=p.num_samples) self._summary = None
def __init__(self, sampler_num_samples=8): """Init.""" self._sampler = py_utils.UniformSampler( num_samples=sampler_num_samples) self._summary = None