back_bevmap = draw_predictions(back_bevmap, back_detections, configs.num_classes)
# Rotate the back_bevmap
back_bevmap = cv2.rotate(back_bevmap, cv2.ROTATE_90_CLOCKWISE)
# merge front and back bevmap
full_bev = np.concatenate((back_bevmap, front_bevmap), axis=1)
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(front_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)
img_bgr = cv2.resize(img_bgr, (cnf.BEV_WIDTH * 2, 375))
out_img = np.concatenate((img_bgr, full_bev), axis=0)
write_credit(out_img, (50, 410), text_author='Cre: github.com/maudzung', org_fps=(900, 410), 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, '{}_both_2_sides.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()
# 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()
img_bgr = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
calib = Calibration(configs.calib_path)
kitti_dets = convert_det_to_real_values(front_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)
img_bgr = cv2.resize(img_bgr, (cnf.BEV_WIDTH * 2, 375))
# out_img = np.concatenate((img_bgr, full_bev), axis=0)
# out_img = np.concatenate(img_bgr)#jdf
out_img = img_bgr
write_credit(out_img, (50, 410),
text_author='allen',
org_fps=(900, 410),
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,
'{}_both_2_sides_no_bev.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: