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