def display_labels_on_image(camera_calibration, img, labels, visibility):
# Get the transformation matrix from the vehicle frame to image space.
vehicle_to_image = utils.get_image_transform(camera_calibration)
# Draw all the groundtruth labels
for label,vis in zip(labels, visibility):
if vis:
colour = (0,0,200)
else:
colour = (128,0,0)
utils.draw_3d_box(img, vehicle_to_image, label, colour=colour)
def display_labels_on_image(camera_calibration, camera, labels, display_time = -1):
# Get the image transformation matrix
vehicle_to_image = utils.get_image_transform(camera_calibration)
# Decode the JPEG image
img = utils.decode_image(camera)
# Draw all the groundtruth labels
for label in labels:
utils.draw_3d_box(img, vehicle_to_image, label)
# Display the image
cv2.imshow("Image", img)
cv2.waitKey(display_time)
def display_labels_on_image(camera_calibration, camera, labels, camera_labels, display_time = -1):
# Get the image transformation matrix
vehicle_to_image = utils.get_image_transform(camera_calibration)
# Decode the JPEG image
img = utils.decode_image(camera)
# Draw all the groundtruth labels
box_3d_to_2d = []
class_labels = [l.type for l in labels]
for label in labels:
x1, y1, x2, y2 = utils.get_3d_boxes_to_2d(img, vehicle_to_image, label)
box_3d_to_2d += [x1, y1, x2, y2]
utils.draw_3d_box(img, vehicle_to_image, label)
utils.draw_3d_box(img, vehicle_to_image, label, draw_2d_bounding_box=True, colour=(0, 255, 0))
for label in camera_labels:
utils.draw_2d_box(img, label, colour=(255, 0, 255))
# Display the image
cv2.imshow("Image", img)
cv2.waitKey(display_time)