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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
# points: LiDAR points with shape [-1, 3]
viz_points = points
dists = np.sqrt(np.sum(viz_points[:, :2] ** 2, axis=1))
colors = np.minimum(1, dists / axes_limit / np.sqrt(2))
# prepare color_map
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)
# 3d bounding box corners
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]
# rotate and translate 3d bounding box
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))
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