def __init__(self,
figsize=(15, 15),
bbox_score_threshold=0.01,
sampler_num_samples=8,
draw_3d_boxes=True):
"""Initialize CameraVisualization.
Args:
figsize: (w, h) float tuple. This is the size of the rendered figure in
inches. A dpi=100 is used in plot.Image; note that the axes and title
will take up space in the final rendering. If None, this will default to
(image_width / 100 * 1.5, image_height / 100 * 1.5).
bbox_score_threshold: The threshold over which bboxes will be drawn on the
image.
sampler_num_samples: Number of batches to keep for visualizing.
draw_3d_boxes: Whether to draw 2d or 3d bounding boxes. 3d bounding
boxes depict the 8 corners of the bounding box, whereas the 2d
bounding boxes depict the extrema x and y dimensions of the boxes
on the image plane.
"""
self._figsize = figsize
self._bbox_score_threshold = bbox_score_threshold,
self._sampler = py_utils.UniformSampler(
num_samples=sampler_num_samples)
self._draw_3d_boxes = draw_3d_boxes
self._summary = None
def __init__(self,
top_down_transform,
class_id_to_name=None,
image_height=1536,
image_width=1024,
figsize=None,
ground_removal_threshold=-1.35,
sampler_num_samples=8):
"""Initialize TopDownVisualizationMetric.
Args:
top_down_transform: transform_util.Transform object that specifies
how to transform a coordinate in the world coordinate to the top
down projection. See documentation for
transform_util.MakeCarToImageTransform for more details on
configuration.
class_id_to_name: Dictionary mapping from class id to name.
image_height: int image height.
image_width: int image width.
figsize: (w, h) float tuple. This is the size of the rendered figure in
inches. A dpi=100 is used in plot.Image; note that the axes and title
will take up space in the final rendering. If None, this will default to
(image_width / 100 * 1.5, image_height / 100 * 1.5).
ground_removal_threshold: Floating point value used to color ground points
differently. Defaults to -1.35 which happens to work well for KITTI.
sampler_num_samples: Number of batches to keep for visualizing.
"""
self._class_id_to_name = class_id_to_name or {}
self._image_width = image_width
self._image_height = image_height
figsize = figsize or (image_width / 100. * 1.5,
image_height / 100. * 1.5)
self._figsize = figsize
self._ground_removal_threshold = ground_removal_threshold
self._sampler = py_utils.UniformSampler(
num_samples=sampler_num_samples)
self._top_down_transform = top_down_transform
self._summary = None
def Summary(self, name):
if self._summary is None:
self._summary = self._CreateSummary(name)
self._sampler = py_utils.UniformSampler(
num_samples=self.params.num_samples)
return self._summary
def __init__(self, params):
super().__init__(params)
p = self.params
self._sampler = py_utils.UniformSampler(num_samples=p.num_samples)
self._summary = None
def __init__(self, sampler_num_samples=8):
"""Init."""
self._sampler = py_utils.UniformSampler(
num_samples=sampler_num_samples)
self._summary = None