def _get_poly_region_in_image(self, instance_annotation, ego_translation,
ego_rotation):
box = Box(instance_annotation['translation'],
instance_annotation['size'],
Quaternion(instance_annotation['rotation']))
box.translate(ego_translation)
box.rotate(ego_rotation)
pts = box.bottom_corners()[:2].T
pts = np.round(
(pts - self.bev_start_position[:2] + self.bev_resolution[:2] / 2.0)
/ self.bev_resolution[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
z = box.bottom_corners()[2, 0]
return pts, z
def get_binimg(self, rec):
egopose = self.nusc.get(
'ego_pose',
self.nusc.get('sample_data',
rec['data']['LIDAR_TOP'])['ego_pose_token'])
trans = -np.array(egopose['translation'])
rot = Quaternion(egopose['rotation']).inverse
img = np.zeros((self.nx[0], self.nx[1]))
for tok in rec['anns']:
inst = self.nusc.get('sample_annotation', tok)
# add category for lyft
if not inst['category_name'].split('.')[0] == 'vehicle':
continue
box = Box(inst['translation'], inst['size'],
Quaternion(inst['rotation']))
box.translate(trans)
box.rotate(rot)
pts = box.bottom_corners()[:2].T
pts = np.round((pts - self.bx[:2] + self.dx[:2] / 2.) /
self.dx[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
cv2.fillPoly(img, [pts], 1.0)
return torch.Tensor(img).unsqueeze(0)
def get_binimg(self, rec):
egopose = self.nusc.get(
'ego_pose',
self.nusc.get('sample_data',
rec['data']['LIDAR_TOP'])['ego_pose_token'])
trans = -np.array(egopose['translation'])
rot = Quaternion(egopose['rotation']).inverse
#vehicle label
img_vehicle = np.zeros((self.nx[0], self.nx[1]))
for tok in rec['anns']:
inst = self.nusc.get('sample_annotation', tok)
# add category for lyft
if not inst['category_name'].split('.')[0] == 'vehicle':
continue
box = Box(inst['translation'], inst['size'],
Quaternion(inst['rotation']))
box.translate(trans)
box.rotate(rot)
pts = box.bottom_corners()[:2].T
pts = np.round((pts - self.bx[:2] + self.dx[:2] / 2.) /
self.dx[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
cv2.fillPoly(img_vehicle, [pts], 1.0)
# cv2.imwrite('./output/vehicle{}.png'.format(rec['timestamp']),img_vehicle*255)
#map label
map_name = self.scene2map[self.nusc.get('scene',
rec['scene_token'])['name']]
rot_map = Quaternion(egopose['rotation']).rotation_matrix
rot_map = np.arctan2(rot_map[1, 0], rot_map[0, 0])
center = np.array([
egopose['translation'][0], egopose['translation'][1],
np.cos(rot_map),
np.sin(rot_map)
])
lmap = get_local_map(self.nusc_maps[map_name], center, 50.0,
['road_segment', 'lane'],
['lane_divider', 'road_divider'])
#road_segment
img_road_segment = np.zeros((self.nx[0], self.nx[1]))
arr_pts = []
for pts in lmap['road_segment']:
pts = np.round((pts - self.bx[:2] + self.dx[:2] / 2.) /
self.dx[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
arr_pts.append(pts)
cv2.fillPoly(img_road_segment, arr_pts, 1.0)
#lane
#lane = np.zeros((self.nx[0], self.nx[1]))
arr_pts = []
for pts in lmap['lane']:
pts = np.round((pts - self.bx[:2] + self.dx[:2] / 2.) /
self.dx[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
arr_pts.append(pts)
# cv2.fillPoly(lane,arr_pts,1.0)
cv2.fillPoly(img_road_segment, arr_pts, 1.0)
#road_divider
# img_road_divider = np.zeros((self.nx[0], self.nx[1]))
# arr_pts=[]
# for pts in lmap['road_divider']:
# pts = np.round(
# (pts - self.bx[:2] + self.dx[:2]/2.) / self.dx[:2]
# ).astype(np.int32)
# pts[:, [1, 0]] = pts[:, [0, 1]]
# arr_pts.append(pts)
# cv2.polylines(img_road_divider,arr_pts,False,1.0,1)
#lane_divider
img_lane_divider = np.zeros((self.nx[0], self.nx[1]))
arr_pts = []
for pts in lmap['lane_divider']:
pts = np.round((pts - self.bx[:2] + self.dx[:2] / 2.) /
self.dx[:2]).astype(np.int32)
pts[:, [1, 0]] = pts[:, [0, 1]]
arr_pts.append(pts)
cv2.polylines(img_lane_divider, arr_pts, False, 1.0, 2)
# cv2.imwrite('./output/lane_divider{}.png'.format(rec['timestamp']),img_lane_divider*255)
#plt.plot(pts[:, 1], pts[:, 0], c=(159./255., 0.0, 1.0), alpha=0.5)
return torch.Tensor(
np.stack([img_vehicle, img_road_segment, img_lane_divider]))