def get_boxes_in_3d(self):
boxes3d = []
for i, basename in enumerate(self.frame_basenames):
bbox = self.bbox[basename]
cam_mat = self.calib[basename]
cam = cam_utils.Camera(basename, cam_mat['A'], cam_mat['R'], cam_mat['T'], self.shape[0], self.shape[1])
bbox3d = misc_utils.lift_box_in_3d(cam, bbox)
boxes3d.append(bbox3d)
return boxes3d
def order_boxes(self, frame_number):
basename = self.frame_basenames[frame_number]
boxes = self.bbox[basename]
cam_mat = self.calib[basename]
cam = cam_utils.Camera(basename, cam_mat['A'], cam_mat['R'], cam_mat['T'], self.shape[0], self.shape[1])
bbox3d = misc_utils.lift_box_in_3d(cam, boxes)
points3d = np.zeros((0, 3))
for i in range(bbox3d.shape[0]):
points3d = np.vstack((points3d, bbox3d[i, 0, :]))
_, depth = cam.project(points3d)
return sorted([i for i in range(len(depth))], key=lambda x: depth[x])