def show_lidar_topview_with_boxes(pc_velo, objects, calib, objects_pred=None):
""" top_view image"""
# print('pc_velo shape: ',pc_velo.shape)
top_view = utils.lidar_to_top(pc_velo)
top_image = utils.draw_top_image(top_view)
print("top_image:", top_image.shape)
# gt
def bbox3d(obj):
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
return box3d_pts_3d_velo
boxes3d = [bbox3d(obj) for obj in objects if obj.type != "DontCare"]
gt = np.array(boxes3d)
# print("box2d BV:",boxes3d)
lines = [obj.type for obj in objects if obj.type != "DontCare"]
top_image = utils.draw_box3d_on_top(
top_image, gt, text_lables=lines, scores=None, thickness=1, is_gt=True
)
# pred
if objects_pred is not None:
boxes3d = [bbox3d(obj) for obj in objects_pred if obj.type != "DontCare"]
gt = np.array(boxes3d)
lines = [obj.type for obj in objects_pred if obj.type != "DontCare"]
top_image = utils.draw_box3d_on_top(
top_image, gt, text_lables=lines, scores=None, thickness=1, is_gt=False
)
cv2.imshow("top_image", top_image)
def show_lidar_topview_with_boxes(pc_velo,
objects,
calib,
objects_pred=None,
track_pred=None):
""" top_view image"""
# print('pc_velo shape: ',pc_velo.shape)
top_view = utils.lidar_to_top(pc_velo)
top_image = utils.draw_top_image(top_view)
print("top_image:", top_image.shape)
# gt
def bbox3d(obj):
box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P)
box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
return box3d_pts_3d_velo
boxes3d = [bbox3d(obj) for obj in objects if obj.type != "DontCare"]
gt = np.array(boxes3d)
# print("box2d BV:",boxes3d)
lines = [obj.type for obj in objects if obj.type != "DontCare"]
top_image = utils.draw_box3d_on_top(top_image,
gt,
text_lables=lines,
scores=None,
thickness=1,
is_gt=True)
#pred
if objects_pred is not None:
boxes3d = [
bbox3d(obj) for obj in objects_pred if obj.type != "DontCare"
]
gt = np.array(boxes3d)
lines = [obj.type for obj in objects_pred if obj.type != "DontCare"]
top_image = utils.draw_box3d_on_top(top_image,
gt,
text_lables=lines,
scores=None,
thickness=1,
is_gt=False)
#tracking result
if track_pred is not None:
boxes3d = [bbox3d(obj) for obj in track_pred if obj.type != "DontCare"]
gt = np.array(boxes3d)
lines = [obj.type for obj in track_pred if obj.type != "DontCare"]
top_image = utils.draw_box3d_on_top(top_image,
gt,
text_lables=lines,
scores=None,
thickness=1,
is_gt=False,
is_track=True)
#cv2.namedWindow("top_image_bev", cv2.WINDOW_NORMAL)#窗口大小可变，左是窗口名称
cv2.namedWindow("top_image_bev", cv2.WINDOW_FREERATIO) #可鼠标调节自适应比例
#cv2.resizeWindow("top_image_bev", 640, 480)#ly
cv2.imshow("top_image_bev", top_image)
