def getPCandBBfromPandas(self, box, calib):
#求出车辆的中心点 从此处的中心点是根据KITTI中相机坐标系下的中心点
# 减去一半的高度移到地面上
center = [box["x"], box["y"] - box["height"] / 2, box["z"]]
size = [box["width"], box["length"], box["height"]]
#下面这个函数没有完全看明白 应该是将roy角转换成四元数吧
orientation = Quaternion(axis=[0, 1, 0],
radians=box["rotation_y"]) * Quaternion(
axis=[1, 0, 0], radians=np.pi / 2)
BB = Box(center, size, orientation) #用中心点坐标和w,h,l以及旋转角来初始化BOX这个类
State = True
try:
# VELODYNE PointCloud
velodyne_path = os.path.join(
self.KITTI_velo, box["scene"],
'%06d.bin' % (box["frame"])) #f'{box["frame"]:06}.bin')
#从点云的.bin文件中读取点云数据并且转换为4*x的矩阵，且去掉最后的一行的点云的密度表示数据
PC = PointCloud(
np.fromfile(velodyne_path, dtype=np.float32).reshape(-1, 4).T)
#将点云转换到相机坐标系下 因为label中的坐标和h,w,l在相机坐标系下的
PC.transform(calib)
except FileNotFoundError:
# logging.error("No such file found\n%s\n", velodyne_path)
PC = PointCloud(np.array([[0, 0, 0]]).T)
State = False
return PC, BB, State
def getPCandBBfromPandas(self, box, calib):
center = [box["x"], box["y"] - box["height"] / 2, box["z"]]
size = [box["width"], box["length"], box["height"]]
orientation = Quaternion(
axis=[0, 1, 0], radians=box["rotation_y"]) * Quaternion(
axis=[1, 0, 0], radians=np.pi / 2) # 这波啊，这波是X-Y平面的旋转
# 绕Y正半轴逆时针旋转，弧度为box["rotation_y"]
# 再绕X正半轴逆时针旋转，角度为90°
BB = Box(center, size, orientation)
try:
# VELODYNE PointCloud
velodyne_path = os.path.join(self.KITTI_velo, box["scene"],
'{:06}.bin'.format(box["frame"]))
# ./data/traning/velodyne/box["scene"]/box["frame"].bin
# box["scene"]，例如0020文件夹，对应第二十一个场景序列
# box["frame"].bin，例如000001.bin
PC = PointCloud(
np.fromfile(velodyne_path, dtype=np.float32).reshape(-1, 4).T)
PC.transform(calib) # 校准
except:
# in case the Point cloud is missing
# (0001/[000177-000180].bin) 果然没了
PC = PointCloud(np.array([[0, 0, 0]]).T)
return PC, BB
def getPCandBBfromPandas(self, box, calib):
center = [box["x"], box["y"] - box["height"] / 2, box["z"]]
size = [box["width"], box["length"], box["height"]]
orientation = Quaternion(
axis=[0, 1, 0], radians=box["rotation_y"]) * Quaternion(
axis=[1, 0, 0], radians=np.pi / 2)
BB = Box(center, size, orientation)
try:
# VELODYNE PointCloud
velodyne_path = os.path.join(self.KITTI_velo, box["scene"],
f'{box["frame"]:06}.bin')
PC = PointCloud(
np.fromfile(velodyne_path, dtype=np.float32).reshape(-1, 4).T)
PC.transform(calib)
except FileNotFoundError:
# in case the Point cloud is missing
# (0001/[000177-000180].bin)
PC = PointCloud(np.array([[0, 0, 0]]).T)
return PC, BB