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import numpy as np
import math
def compute_box_3d(size, center, rotmat):
"""Compute corners of a single box from rotation matrix
Args:
size: list of float [dx, dy, dz]
center: np.array [x, y, z]
rotmat: np.array (3, 3)
Returns:
corners: (8, 3)
"""
l, h, w = [i / 2 for i in size]
center = np.reshape(center, (-1, 3))
center = center.reshape(3)
x_corners = [l, l, -l, -l, l, l, -l, -l]
y_corners = [h, -h, -h, h, h, -h, -h, h]
z_corners = [w, w, w, w, -w, -w, -w, -w]
corners_3d = np.dot(
np.transpose(rotmat), np.vstack([x_corners, y_corners, z_corners])
)
corners_3d[0, :] += center[0]
corners_3d[1, :] += center[1]
corners_3d[2, :] += center[2]
return np.transpose(corners_3d)
def rotate_z_axis_by_degrees(pointcloud, theta, clockwise=True):
theta = np.deg2rad(theta)
cos_t = np.cos(theta)
sin_t = np.sin(theta)
rot_matrix = np.array([[cos_t, -sin_t, 0],
[sin_t, cos_t, 0],
[0, 0, 1]], pointcloud.dtype)
if not clockwise:
rot_matrix = rot_matrix.T
return pointcloud.dot(rot_matrix)
def eulerAnglesToRotationMatrix(theta):
"""Euler rotation matrix with clockwise logic.
Rotation
Args:
theta: list of float
[theta_x, theta_y, theta_z]
Returns:
R: np.array (3, 3)
rotation matrix of Rz*Ry*Rx
"""
R_x = np.array(
[
[1, 0, 0],
[0, math.cos(theta[0]), -math.sin(theta[0])],
[0, math.sin(theta[0]), math.cos(theta[0])],
]
)
R_y = np.array(
[
[math.cos(theta[1]), 0, math.sin(theta[1])],
[0, 1, 0],
[-math.sin(theta[1]), 0, math.cos(theta[1])],
]
)
R_z = np.array(
[
[math.cos(theta[2]), -math.sin(theta[2]), 0],
[math.sin(theta[2]), math.cos(theta[2]), 0],
[0, 0, 1],
]
)
R = np.dot(R_z, np.dot(R_y, R_x))
return R
def is_axis_aligned(rotated_box, thres=0.05):
x_diff = abs(rotated_box[0][0] - rotated_box[1][0])
y_diff = abs(rotated_box[0][1] - rotated_box[3][1])
return x_diff < thres and y_diff < thres
def calc_align_matrix(bbox_list):
RANGE = [-45, 45]
NUM_BIN = 90
angles = np.linspace(RANGE[0], RANGE[1], NUM_BIN)
angle_counts = {}
for _a in angles:
bucket = round(_a, 3)
for box in bbox_list:
box_r = rotate_z_axis_by_degrees(box, bucket)
bottom = box_r[4:]
if is_axis_aligned(bottom):
angle_counts[bucket] = angle_counts.get(bucket, 0) + 1
if len(angle_counts) == 0:
RANGE = [-90, 90]
NUM_BIN = 180
angles = np.linspace(RANGE[0], RANGE[1], NUM_BIN)
for _a in angles:
bucket = round(_a, 3)
for box in bbox_list:
box_r = rotate_z_axis_by_degrees(box, bucket)
bottom = box_r[4:]
if is_axis_aligned(bottom, thres=0.15):
angle_counts[bucket] = angle_counts.get(bucket, 0) + 1
most_common_angle = max(angle_counts, key=angle_counts.get)
return most_common_angle
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