def generate_ref(box, P):
s1, s2, s3, s4 = (0.1, 0.2, 0.4, 0.8)
z1 = np.arange(0, 70, s1) + s1 / 2.
z2 = np.arange(0, 70, s2) + s2 / 2.
z3 = np.arange(0, 70, s3) + s3 / 2.
z4 = np.arange(0, 70, s4) + s4 / 2.
cx, cy = (box[0] + box[2]) / 2., (box[1] + box[3]) / 2.,
xyz1 = np.zeros((len(z1), 3))
xyz1[:, 0] = cx
xyz1[:, 1] = cy
xyz1[:, 2] = z1
xyz1_rect = project_image_to_rect(xyz1, P)
xyz2 = np.zeros((len(z2), 3))
xyz2[:, 0] = cx
xyz2[:, 1] = cy
xyz2[:, 2] = z2
xyz2_rect = project_image_to_rect(xyz2, P)
xyz3 = np.zeros((len(z3), 3))
xyz3[:, 0] = cx
xyz3[:, 1] = cy
xyz3[:, 2] = z3
xyz3_rect = project_image_to_rect(xyz3, P)
xyz4 = np.zeros((len(z4), 3))
xyz4[:, 0] = cx
xyz4[:, 1] = cy
xyz4[:, 2] = z4
xyz4_rect = project_image_to_rect(xyz4, P)
return xyz1_rect, xyz2_rect, xyz3_rect, xyz4_rect
def check_box_frustum(box, P, center, dimension, angle):
x1, y1, x2, y2 = box
box_corner = compute_box_3d(center, dimension, angle, P) # 8, 3
z1 = np.arange(0, 70, 0.1)
xyz1 = np.zeros((len(z1), 3))
xyz1[:, 0] = x1
xyz1[:, 1] = y1
xyz1[:, 2] = z1
xyz1_rect = project_image_to_rect(xyz1, P)
xyz1[:, 0] = x2
xyz1[:, 1] = y2
xyz1[:, 2] = z1
xyz2_rect = project_image_to_rect(xyz1, P)
xyz1[:, 0] = x1
xyz1[:, 1] = y2
xyz1[:, 2] = z1
xyz3_rect = project_image_to_rect(xyz1, P)
xyz1[:, 0] = x2
xyz1[:, 1] = y1
xyz1[:, 2] = z1
xyz4_rect = project_image_to_rect(xyz1, P)
fig = plt.figure()
ax = fig.gca(projection='3d')
draw_box3d(box_corner, ax)
draw_points(xyz1_rect, ax)
draw_points(xyz2_rect, ax)
draw_points(xyz3_rect, ax)
draw_points(xyz4_rect, ax)
plt.show()
def generate_ref(self, box, P):
s1, s2, s3, s4 = cfg.DATA.STRIDE
max_depth = cfg.DATA.MAX_DEPTH
z1 = np.arange(0, max_depth, s1) + s1 / 2.
z2 = np.arange(0, max_depth, s2) + s2 / 2.
z3 = np.arange(0, max_depth, s3) + s3 / 2.
z4 = np.arange(0, max_depth, s4) + s4 / 2.
cx, cy = (box[0] + box[2]) / 2., (box[1] + box[3]) / 2.,
xyz1 = np.zeros((len(z1), 3))
xyz1[:, 0] = cx
xyz1[:, 1] = cy
xyz1[:, 2] = z1
xyz1_rect = project_image_to_rect(xyz1, P)
xyz2 = np.zeros((len(z2), 3))
xyz2[:, 0] = cx
xyz2[:, 1] = cy
xyz2[:, 2] = z2
xyz2_rect = project_image_to_rect(xyz2, P)
xyz3 = np.zeros((len(z3), 3))
xyz3[:, 0] = cx
xyz3[:, 1] = cy
xyz3[:, 2] = z3
xyz3_rect = project_image_to_rect(xyz3, P)
xyz4 = np.zeros((len(z4), 3))
xyz4[:, 0] = cx
xyz4[:, 1] = cy
xyz4[:, 2] = z4
xyz4_rect = project_image_to_rect(xyz4, P)
return xyz1_rect, xyz2_rect, xyz3_rect, xyz4_rect