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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, w, l, cz, h, rot.sin(), rot.cos(), vx, vy), dim=-1
)
else:
normalized_bboxes = torch.cat(
(cx, cy, w, l, cz, 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[..., 4:5]
# size
w = normalized_bboxes[..., 2:3]
l = normalized_bboxes[..., 3:4]
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
def decode_bboxes(pred_bboxes, voxel_size, out_size_factor, pc_range):
x = pred_bboxes[..., 0:1] * voxel_size[0] * out_size_factor + pc_range[0]
y = pred_bboxes[..., 1:2] * voxel_size[1] * out_size_factor + pc_range[1]
z = pred_bboxes[..., 2:3]
w = pred_bboxes[..., 3:4].exp()
l = pred_bboxes[..., 4:5].exp()
h = pred_bboxes[..., 5:6].exp()
rot_sine = pred_bboxes[..., 6:7]
rot_cosine = pred_bboxes[..., 7:8]
rot = torch.atan2(rot_sine, rot_cosine)
vel = pred_bboxes[..., 8:]
return torch.cat((x, y, z, w, l, h, rot, vel), -1)
def encode_bboxes(gt_bboxes, voxel_size, out_size_factor, pc_range):
x = (gt_bboxes[..., 0:1] - pc_range[0]) / (voxel_size[0] * out_size_factor)
y = (gt_bboxes[..., 1:2] - pc_range[1]) / (voxel_size[1] * out_size_factor)
# x = x - torch.floor(x)
# y = y - torch.floor(y)
z = gt_bboxes[..., 2:3]
w = gt_bboxes[..., 3:4].log()
l = gt_bboxes[..., 4:5].log()
h = gt_bboxes[..., 5:6].log()
rot = gt_bboxes[..., 6:7]
vel = gt_bboxes[..., 7:]
return torch.cat((x, y, z, w, l, h, rot.sin(), rot.cos(), vel), -1)
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