def show_image_with_boxes(img, calib, objects=[], objects_pred=[]):
""" Show image with 2D bounding boxes """
img_2d = np.copy(img) # for 2d bbox
img_3d = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type not in care_types:
continue
cv2.rectangle(
img_2d,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
img_3d = utils.draw_projected_box3d(img_3d, box3d_pts_2d)
for obj in objects_pred:
if obj.type not in care_types:
continue
cv2.rectangle(
img_2d,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 0, 255),
2,
)
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
img_3d = utils.draw_projected_box3d(img_3d,
box3d_pts_2d,
color=(0, 0, 255))
return img_2d, img_3d
def show_image_with_boxes(img, objects, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
img3 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == 'DontCare': continue
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), (0, 255, 0), 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# project
box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
#box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
#print("img1:", img1.shape)
Image.fromarray(img1).show()
print("img3:", img3.shape)
Image.fromarray(img3).show()
show3d = False
if show3d:
print("img2:", img2.shape)
Image.fromarray(img2).show()
def show_image_with_boxes(img, objects, calib, show3d=True):
"""
Show image with 2D bounding boxes
:param img: image loaded
:param objects:
:param calib:
:param show3d:
:return:
"""
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects: # process each object in an image
if obj.type == 'DontCare': continue # remove 'DontCare' class
# draw 2d bbox
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), (0, 255, 0), 2)
# calculate 3d bbox for left color cam from P: P2
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
print("********************, ", obj.type)
# print("********************, ", box3d_pts_2d.shape)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# Image.fromarray(img1).show()
cv2.imshow('2D bounding box in image',
cv2.cvtColor(img1, cv2.COLOR_BGR2RGB))
if show3d:
# Image.fromarray(img2).show()
cv2.imshow('3D bounding box in image',
cv2.cvtColor(img2, cv2.COLOR_BGR2RGB))
cv2.waitKey(0)
cv2.destroyAllWindows()
def show_image_with_boxes(img,
data_idx,
objects,
calib,
show3d=True,
depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
img3 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == "DontCare":
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
# cv2.imshow("2dbox", img1)
cv2.imwrite('results/%s_image_with_boxes.png' % data_idx, img2)
def show_image_with_boxes(img, objects, calib, show3d=True, depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
img3 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == "DontCare":
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
cv2.imshow("2dbox", img1)
# print("img3:",img3.shape)
# Image.fromarray(img3).show()
show3d = True
if show3d:
# print("img2:",img2.shape)
cv2.imshow("3dbox", img2)
if depth is not None:
cv2.imshow("depth", depth)
def show_image_with_pred_boxes(img,
objects,
calib,
data_idx,
savepath,
show3d=True,
depth=None):
""" Show image with 2D bounding boxes """
#img1 = cv2.imread(savepath + "/" + str(data_idx) + ".png")
#img2 = cv2.imread(savepath + "/" + str(data_idx) + ".png")
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == "DontCare":
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is not None:
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color=(0, 0, 255))
show3d = True
#cv2.imwrite(savepath + "/" + str(data_idx) + "2d.png", img1)
if show3d:
cv2.imwrite(savepath + "/" + str(data_idx) + "_pred.png", img2)
if depth is not None:
cv2.imwrite("imgs/depth" + ".png", depth)
return img1, img2
def run_on_tracking_image(img, objects, calib):
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
track_id = int(obj.track)
color = create_unique_color_uchar(track_id)
rectangle(img1,
obj.xmin,
obj.ymin,
obj.xmax,
obj.ymax,
color,
label=str(track_id))
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is None: continue
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color,
thickness=2)
left_top = np.amin(box3d_pts_2d, axis=0)
put_track_id(img2,
left_top[0],
left_top[1],
str(track_id),
color,
thickness=2)
# img2 = overlay_class_names(img2, objects, calib)
return img1, img2
def show_image_with_boxes_results(img, objects,results, calib, show3d=False):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type=='DontCare':continue
cv2.rectangle(img1, (int(obj.xmin),int(obj.ymin)),
(int(obj.xmax),int(obj.ymax)), (0,255,0), 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
for obj in results:
if obj.type=='DontCare':continue
cv2.rectangle(img1, (int(obj.xmin),int(obj.ymin)),
(int(obj.xmax),int(obj.ymax)), (255,0,0), 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
#print()
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
Image.fromarray(img1).show()
if show3d:
Image.fromarray(img2).show()
def show_image_with_boxes(img, objects, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type=='DontCare':continue
cv2.rectangle(img1, (int(obj.xmin),int(obj.ymin)),
(int(obj.xmax),int(obj.ymax)), (0,255,0), 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
Image.fromarray(img1).show()
if show3d:
Image.fromarray(img2).show()
def show_image_with_boxes(img, objects, calib, show3d=True, depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
#img3 = np.copy(img) # for 3d bbox
global i
print(len(objects))
for obj in objects:
print(obj.type)
if obj.type == "DontCare":
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
# if (obj.type == "car" or obj.type == "Van" or obj.type == "Truck") and (obj.alpha >0 and obj.alpha < 1.57):
if (obj.type == "Car" or obj.type == "Van" or obj.type == "Truck"):
# print("###################")
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is None:
continue
img2, img_extract, coord = utils.draw_projected_box3d(img2, box3d_pts_2d)
if img_extract is not None and img_extract.shape[0] >= 60 and img_extract.shape[1] >= 40:
# print(img_extract.shape)
# print("writing img and bbox")
cv2.imwrite('./result/{}.jpg'.format(i), img_extract)
np.savetxt('./result/' + str(i), coord)
i += 1
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
# cv2.imshow("2dbox", img1)
# print("img3:",img3.shape)
# Image.fromarray(img3).show()
show3d = True
# if show3d:
# # print("img2:",img2.shape)
# cv2.imshow("3dbox", img2)
# if depth is not None:
# cv2.imshow("depth", depth)
return img1, img2
def run_on_opencv_image(img, objects, calib):
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type not in color_map: continue
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), color_map[obj.type], 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is None: continue
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color_map[obj.type],
thickness=2)
# img2 = overlay_class_names(img2, objects, calib)
return img1, img2
def save_image_with_boxes(img, objects, calib, path_to_save):
""" Show image with 2D bounding boxes """
if objects is None:
print('no objects')
return 0
img1 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == "DontCare":
continue
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is None:
continue
img1 = utils.draw_projected_box3d(img1, box3d_pts_2d)
cv2.imwrite(path_to_save, img1)
def return_image_with_boxes(img, objects, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == 'DontCare': continue
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), (0, 255, 0), 2)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if np.sum(box3d_pts_2d == None) != 1:
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# Image.fromarray(img1).show()
if show3d:
# Image.fromarray(img2).show()
return img1, img2
else:
return img1
def show_image_with_results(img, results, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
# i = 0;
for obj in results:
if obj.type=='DontCare':continue
cv2.rectangle(img1, (int(obj.xmin),int(obj.ymin)),
(int(obj.xmax),int(obj.ymax)), (255,0,0), 2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img1,str(obj.score),(int(obj.xmin),int(obj.ymin)), font, 2,(255,255,255),2,cv2.LINE_AA)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
#print(box3d_pts_2d)
#print(box3d_pts_3d)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# i = i + 1
Image.fromarray(img1).show()
if show3d:
Image.fromarray(img2).show()
def show_image_with_boxes_right(img_right, objects, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img_right) # for 2d bbox
img2 = np.copy(img_right) # for 3d bbox
for obj in objects:
if obj.type == 'DontCare': continue
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P3)
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
xcord = box3d_pts_2d[:, 0]
ycord = box3d_pts_2d[:, 1]
cv2.rectangle(img1, (int(min(xcord)), int(min(ycord))),
(int(max(xcord)), int(max(ycord))), (0, 255, 0), 2)
Image.fromarray(img1).show(title="Left Image 2D")
if show3d:
Image.fromarray(img2).show(title="Left Image 3D")
def show_image_with_boxes(data_idx,
img,
objects,
calib,
show3d=True,
depth=None):
img_res = np.copy(img)
for obj in objects:
if obj.type == "DontCare":
continue
obj.score = norm_score(obj.score)
if obj.score < args.threshold:
continue
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
img_res = utils.draw_projected_box3d(img_res, box3d_pts_2d, obj)
cv2.imwrite(path.join(output_dir, '%.3d_image_with_boxes.png' % data_idx),
img_res)
def show_image_with_boxes(img,
objects,
calib,
data_idx,
savepath,
ignores_count,
show3d=True,
depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
ignores = filter_objects(objects)
for obj in ignores:
if obj == True:
ignores_count += 1
index = 0
for obj in objects:
if obj.type == "DontCare":
continue
if ignores[index] == True:
ignores_count += 1
index += 1
continue
index += 1
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is not None:
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
show3d = True
cv2.imwrite(savepath + "/2d_ignores.png", img1)
if show3d:
cv2.imwrite(savepath + "/" + str(data_idx) + ".png", img2)
if depth is not None:
cv2.imwrite("imgs/depth" + ".png", depth)
return img1, img2, ignores_count
def show_image_with_boxes(img, objects, calib, show3d=True, depth=None):
""" Show image with 2D bounding boxes """
# img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
#img3 = np.copy(img) # for 3d bbox
# import pdb; pdb.set_trace()
for obj in objects:
if obj.type == "DontCare":
continue
# cv2.rectangle(
# img1,
# (int(obj.xmin), int(obj.ymin)),
# (int(obj.xmax), int(obj.ymax)),
# (0, 255, 0),
# 2,
# )
# import pdb; pdb.set_trace()
box3d_pts_2d, _, check = utils.compute_box_3d(obj, calib)
if not check:
continue
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
# cv2.imshow("2dbox", img1)
# print("img3:",img3.shape)
# Image.fromarray(img3).show()
# show3d = True
# if show3d:
# # print("img2:",img2.shape)
# cv2.imshow("3dbox", img2)
# if depth is not None:
# cv2.imshow("depth", depth)
return img2
def return_image_with_preds(img, objects, calib, show3d=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type == 'DontCare': continue
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), (0, 255, 0), 2)
cv2.putText(img1,
"%.2f" % (obj.score),
org=(int(obj.xmin), int(obj.ymin)),
fontFace=cv2.FONT_HERSHEY_TRIPLEX,
fontScale=0.5,
color=(0, 0, 255))
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if np.sum(box3d_pts_2d == None) != 1:
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
# Image.fromarray(img1).show()
if show3d:
# Image.fromarray(img2).show()
return img1, img2
else:
return img1
def show_image_with_boxes(img,
objects=None,
calib=None,
show3d=True,
depth=None,
track_pred=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 3d detection bbox
img2 = np.copy(img) # for 3d tracking bbox
img3 = np.copy(img) # for 3d bbox
if objects is not None:
for obj in objects:
# if obj.type == "DontCare":
# continue
# cv2.rectangle(
# img1,
# (int(obj.xmin), int(obj.ymin)),
# (int(obj.xmax), int(obj.ymax)),
# (0, 255, 0),
# 2,
# )
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
try: #判断读到的结果数据是否有问题
box3d_pts_2d.any()
except: # 不用抛出错误，有错跳出本次循环即可，加上错误类型时会抛出错误
print('detection results hanve some problems!')
continue
else:
img1 = utils.draw_projected_box3d(img1, box3d_pts_2d)
if track_pred is not None: # tracking results
for obj in track_pred:
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
#print(box3d_pts_2d)
try: #判断读到的结果数据是否有问题
box3d_pts_2d.any()
except: # 不用抛出错误，有错跳出本次循环即可，加上错误类型时会抛出错误
print('tracking results hanve some problems!')
continue
else:
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img2, 'trackid:%d' % obj.trackid, (int(
(obj.xmin + obj.xmax) / 2.1), int(obj.ymin - 10)), font,
0.5, (0, 255, 0), 1)
#画trackid 绘制的文字，位置，字型，字体大小，文字颜色，线型
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
#cv2.imshow("2dbox", img1)
cv2.namedWindow("tracking results", cv2.WINDOW_FREERATIO) # 可鼠标调节自适应比例
cv2.namedWindow("detection results", cv2.WINDOW_FREERATIO) # 可鼠标调节自适应比例
cv2.imshow("detection results", img1)
# print("img3:",img3.shape)
# Image.fromarray(img3).show()
#show3d = True
if show3d: # show tracking results
# print("img2:",img2.shape)
cv2.imshow("tracking results", img2)
if depth is not None:
cv2.imshow("depth", depth)
def show_image_with_boxes(img, objects, calib, show3d=True, depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
#img3 = np.copy(img) # for 3d bbox
#TODO: change the color of boxes
for obj in objects:
if obj.type == "DontCare":
continue
if obj.type == "Car":
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
2,
)
if obj.type == "Pedestrian":
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(255, 255, 0),
2,
)
if obj.type == "Cyclist":
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 255),
2,
)
box3d_pts_2d, _ = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is None:
print("something wrong in the 3D box.")
continue
if obj.type == "Car":
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color=(0, 255, 0))
elif obj.type == "Pedestrian":
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color=(255, 255, 0))
elif obj.type == "Cyclist":
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color=(0, 255, 255))
# project
# box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
# box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
# box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
# img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
# print("img1:", img1.shape)
cv2.imshow("2dbox", img1)
# print("img3:",img3.shape)
# Image.fromarray(img3).show()
show3d = True
if show3d:
# print("img2:",img2.shape)
cv2.imshow("3dbox", img2)
if depth is not None:
cv2.imshow("depth", depth)
return img1, img2
def show_image_with_boxes(img,
objects,
pred_objects,
calib,
save_dir,
data_idx,
scale,
save_img=False,
show3d=True,
depth=None):
""" Show image with 2D bounding boxes """
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
for obj in objects:
if obj.type != 'Car' or obj.t[2] > 70.4:
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 255, 0),
1,
)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if (box3d_pts_2d is None):
continue
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d)
if (pred_objects != None):
for obj in pred_objects:
if obj.type != 'Car' or obj.t[2] > 70.4:
continue
cv2.rectangle(
img1,
(int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)),
(0, 0, 255),
1,
)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if (box3d_pts_2d is None):
continue
img2 = utils.draw_projected_box3d(img2,
box3d_pts_2d,
color=(0, 0, 255))
bbox2d_path = save_dir + '2dbox/' + str(data_idx).zfill(6) + '.png'
bbox3d_path = save_dir + '3dbox/' + str(data_idx).zfill(6) + '.png'
if (save_img):
cv2.imwrite(bbox2d_path, img1)
else:
cv2.imshow("2dbox", img1)
if show3d:
if (save_img):
cv2.imwrite(bbox3d_path, img2)
else:
cv2.imshow("3dbox", img2)
if depth is not None:
cv2.imshow("depth", depth)
def show_image_with_boxes(img,
objects,
calib,
show3d=True,
color=(0, 255, 0),
scores=[],
colors=[],
show=True):
''' Show image with 2D bounding boxes '''
img1 = np.copy(img) # for 2d bbox
img2 = np.copy(img) # for 3d bbox
if len(colors) != 0:
assert len(colors) == len(objects)
for i, obj in enumerate(objects):
if obj.type == 'DontCare':
continue
if len(colors) != 0:
color = colors[i]
cv2.rectangle(img1, (int(obj.xmin), int(obj.ymin)),
(int(obj.xmax), int(obj.ymax)), color, 2)
if len(scores) != 0:
# Show text.
area = (obj.xmax - obj.xmin) * (obj.ymax - obj.ymin)
if area > 25:
cv2.putText(
img1,
'%.2f' % scores[i], (int(
(obj.xmin + obj.xmax) / 2), max(int(obj.ymin) - 3, 0)),
cv2.FONT_HERSHEY_PLAIN,
fontScale=0.8,
color=color,
thickness=1,
lineType=cv2.LINE_AA)
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
if box3d_pts_2d is not None:
img2 = utils.draw_projected_box3d(img2, box3d_pts_2d, color)
if len(scores) != 0:
xx1, yy1 = np.min(box3d_pts_2d, 0)
xx2, yy2 = np.max(box3d_pts_2d, 0)
if (xx2 - xx1) * (yy2 - yy1) > 25:
cv2.putText(img2,
'%.2f' % scores[i], (int(
(xx1 + xx2) / 2), max(int(yy1) - 3, 0)),
cv2.FONT_HERSHEY_PLAIN,
fontScale=0.8,
color=color,
thickness=1,
lineType=cv2.LINE_AA)
if show:
Image.fromarray(img1).show()
if show3d:
Image.fromarray(img2).show()
return img1, img2
