calib = Calibration(
img_path.replace(".png", ".txt").replace("image_2", "calib"))
bev_map = (bev_map.transpose(1, 2, 0) * 255).astype(np.uint8)
bev_map = cv2.resize(bev_map, (cnf.BEV_HEIGHT, cnf.BEV_WIDTH))
for box_idx, (cls_id, x, y, z, h, w, l, yaw) in enumerate(labels):
# Draw rotated box
yaw = -yaw
y1 = int((x - cnf.boundary['minX']) / cnf.DISCRETIZATION)
x1 = int((y - cnf.boundary['minY']) / cnf.DISCRETIZATION)
w1 = int(w / cnf.DISCRETIZATION)
l1 = int(l / cnf.DISCRETIZATION)
drawRotatedBox(bev_map, x1, y1, w1, l1, yaw,
cnf.colors[int(cls_id)])
# Rotate the bev_map
bev_map = cv2.rotate(bev_map, cv2.ROTATE_180)
labels[:, 1:] = lidar_to_camera_box(labels[:, 1:], calib.V2C, calib.R0,
calib.P2)
img_rgb = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
img_rgb = show_rgb_image_with_boxes(img_rgb, labels, calib)
out_img = merge_rgb_to_bev(img_rgb,
bev_map,
output_width=configs.output_width)
cv2.imshow('bev_map', out_img)
if cv2.waitKey(0) & 0xff == 27:
break
# Draw prediction in the image
bev_map = (bev_map.permute(1, 2, 0).numpy() * 255).astype(np.uint8)
bev_map = cv2.resize(bev_map, (cnf.BEV_WIDTH, cnf.BEV_HEIGHT))
bev_map = draw_predictions(bev_map, detections, configs.num_classes)
# Rotate the bev_map
bev_map = cv2.rotate(bev_map, cv2.ROTATE_180)
img_path = metadatas['img_path'][0]
img_bgr = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
calib = Calibration(configs.calib_path)
kitti_dets = convert_det_to_real_values(detections)
if len(kitti_dets) > 0:
kitti_dets[:, 1:] = lidar_to_camera_box(kitti_dets[:, 1:], calib.V2C, calib.R0, calib.P2)
img_bgr = show_rgb_image_with_boxes(img_bgr, kitti_dets, calib)
out_img = merge_rgb_to_bev(img_bgr, bev_map, output_width=configs.output_width)
write_credit(out_img, (80, 210), text_author='Cre: github.com/maudzung', org_fps=(80, 250), fps=fps)
if out_cap is None:
out_cap_h, out_cap_w = out_img.shape[:2]
fourcc = cv2.VideoWriter_fourcc(*'MJPG')
out_path = os.path.join(configs.results_dir, '{}_front.avi'.format(configs.foldername))
print('Create video writer at {}'.format(out_path))
out_cap = cv2.VideoWriter(out_path, fourcc, 30, (out_cap_w, out_cap_h))
out_cap.write(out_img)
if out_cap:
out_cap.release()
cv2.destroyAllWindows()
