File size: 1,461 Bytes
6a176cb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | import torch
def normalize_bbox(bboxes, pc_range):
cx = bboxes[..., 0:1]
cy = bboxes[..., 1:2]
cz = bboxes[..., 2:3]
w = bboxes[..., 3:4].log()
l = bboxes[..., 4:5].log()
h = bboxes[..., 5:6].log()
rot = bboxes[..., 6:7]
if bboxes.size(-1) > 7:
vx = bboxes[..., 7:8]
vy = bboxes[..., 8:9]
normalized_bboxes = torch.cat(
(cx, cy, cz, w, l, h, rot.sin(), rot.cos(), vx, vy), dim=-1
)
else:
normalized_bboxes = torch.cat(
(cx, cy, cz, w, l, h, rot.sin(), rot.cos()), dim=-1
)
return normalized_bboxes
def denormalize_bbox(normalized_bboxes, pc_range):
# rotation
rot_sine = normalized_bboxes[..., 6:7]
rot_cosine = normalized_bboxes[..., 7:8]
rot = torch.atan2(rot_sine, rot_cosine)
# center in the bev
cx = normalized_bboxes[..., 0:1]
cy = normalized_bboxes[..., 1:2]
cz = normalized_bboxes[..., 2:3]
# size
w = normalized_bboxes[..., 3:4]
l = normalized_bboxes[..., 4:5]
h = normalized_bboxes[..., 5:6]
w = w.exp()
l = l.exp()
h = h.exp()
if normalized_bboxes.size(-1) > 8:
# velocity
vx = normalized_bboxes[:, 8:9]
vy = normalized_bboxes[:, 9:10]
denormalized_bboxes = torch.cat([cx, cy, cz, w, l, h, rot, vx, vy], dim=-1)
else:
denormalized_bboxes = torch.cat([cx, cy, cz, w, l, h, rot], dim=-1)
return denormalized_bboxes |