| import numpy as np |
|
|
| from matplotlib.lines import Line2D |
|
|
|
|
| def rotz(t): |
| """Rotation about the z-axis.""" |
| c = np.cos(t) |
| s = np.sin(t) |
| return np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]]) |
|
|
|
|
| def draw_box_and_pc(points, boxes, names=None): |
| import matplotlib.pyplot as plt |
|
|
| _, ax = plt.subplots(1, 1, figsize=(9, 9)) |
| axes_limit = 40 |
| |
| viz_points = points |
| dists = np.sqrt(np.sum(viz_points[:, :2] ** 2, axis=1)) |
| colors = np.minimum(1, dists / axes_limit / np.sqrt(2)) |
|
|
| |
| points_color = np.array([[245, 150, 100]]).reshape(1, 3).repeat(points.shape[0], 0) |
| points_color = points_color / 255.0 |
| point_scale = 0.2 |
| scatter = ax.scatter(viz_points[:, 0], viz_points[:, 1], c=points_color, s=point_scale) |
|
|
| ax.plot(0, 0, "x", color="red") |
| ax.set_xlim(-axes_limit, axes_limit) |
| ax.set_ylim(-axes_limit, axes_limit) |
|
|
| if names is None: |
| draw_box_3d(boxes, ax) |
| else: |
| color_map = { |
| "vehicle": "green", |
| "bicycle": "blue", |
| "pedestrian": "red", |
| "traffic_cone": "darkred", |
| "barrier": "peru", |
| "czone_sign": "pink", |
| "generic_object": "black", |
| } |
| colors = [color_map[name] for name in names] |
| draw_box_3d(boxes, ax, linestyle="--", colors=colors) |
|
|
| ax.axis("off") |
| ax.set_aspect("equal") |
| plt.savefig("dbg/dbg.png", bbox_inches="tight", pad_inches=0, dpi=200) |
|
|
|
|
| def draw_box_3d(boxes, ax, linestyle="--", colors="cyan"): |
| for o in range(len(boxes)): |
| color = colors[o] |
| obj = boxes[o] |
| c_x, c_y, c_z, l, w, h, rz = obj[0], obj[1], obj[2], obj[3], obj[4], obj[5], obj[6] |
|
|
| R = rotz(rz) |
|
|
| |
| x_corners = [l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2] |
| y_corners = [w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2] |
| z_corners = [h, h, h, h, 0, 0, 0, 0] |
|
|
| |
| corners_3d = np.dot(R, np.vstack([x_corners, y_corners, z_corners])) |
|
|
| corners_3d[0, :] = corners_3d[0, :] + c_x |
| corners_3d[1, :] = corners_3d[1, :] + c_y |
| corners_3d[2, :] = corners_3d[2, :] + c_z |
|
|
| corners_3d_velo = np.transpose(corners_3d) |
|
|
| x1, x2, x3, x4 = corners_3d_velo[0:4, 0] |
| y1, y2, y3, y4 = corners_3d_velo[0:4, 1] |
|
|
| polygon = np.zeros([5, 2], dtype=np.float32) |
| polygon[0, 0] = x1 |
| polygon[1, 0] = x2 |
| polygon[2, 0] = x3 |
| polygon[3, 0] = x4 |
| polygon[4, 0] = x1 |
|
|
| polygon[0, 1] = y1 |
| polygon[1, 1] = y2 |
| polygon[2, 1] = y3 |
| polygon[3, 1] = y4 |
| polygon[4, 1] = y1 |
|
|
| line1 = [(x1, y1), (x2, y2)] |
| line2 = [(x2, y2), (x3, y3)] |
| line3 = [(x3, y3), (x4, y4)] |
| line4 = [(x4, y4), (x1, y1)] |
| (line1_xs, line1_ys) = zip(*line1) |
| (line2_xs, line2_ys) = zip(*line2) |
| (line3_xs, line3_ys) = zip(*line3) |
| (line4_xs, line4_ys) = zip(*line4) |
| ax.add_line(Line2D(line1_xs, line1_ys, linewidth=1, linestyle=linestyle, color=color)) |
| ax.add_line(Line2D(line2_xs, line2_ys, linewidth=1, linestyle=linestyle, color=color)) |
| ax.add_line(Line2D(line3_xs, line3_ys, linewidth=1, linestyle=linestyle, color=color)) |
| ax.add_line(Line2D(line4_xs, line4_ys, linewidth=1, linestyle=linestyle, color=color)) |
|
|
