51 lines
1.4 KiB
Python
51 lines
1.4 KiB
Python
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import torch
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def normalize_bbox(bboxes, pc_range):
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cx = bboxes[..., 0:1]
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cy = bboxes[..., 1:2]
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cz = bboxes[..., 2:3]
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w = bboxes[..., 3:4].log()
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l = bboxes[..., 4:5].log()
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h = bboxes[..., 5:6].log()
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rot = bboxes[..., 6:7]
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if bboxes.size(-1) > 7:
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vx = bboxes[..., 7:8]
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vy = bboxes[..., 8:9]
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normalized_bboxes = torch.cat((cx, cy, w, l, cz, h, rot.sin(), rot.cos(), vx, vy), dim=-1)
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else:
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normalized_bboxes = torch.cat((cx, cy, w, l, cz, h, rot.sin(), rot.cos()), dim=-1)
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return normalized_bboxes
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def denormalize_bbox(normalized_bboxes, pc_range):
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# rotation
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rot_sine = normalized_bboxes[..., 6:7]
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rot_cosine = normalized_bboxes[..., 7:8]
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rot = torch.atan2(rot_sine, rot_cosine)
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# center in the bev
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cx = normalized_bboxes[..., 0:1]
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cy = normalized_bboxes[..., 1:2]
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cz = normalized_bboxes[..., 4:5]
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# size
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w = normalized_bboxes[..., 2:3]
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l = normalized_bboxes[..., 3:4]
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h = normalized_bboxes[..., 5:6]
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w = w.exp()
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l = l.exp()
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h = h.exp()
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if normalized_bboxes.size(-1) > 8:
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# velocity
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vx = normalized_bboxes[:, 8:9]
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vy = normalized_bboxes[:, 9:10]
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denormalized_bboxes = torch.cat([cx, cy, cz, w, l, h, rot, vx, vy], dim=-1)
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else:
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denormalized_bboxes = torch.cat([cx, cy, cz, w, l, h, rot], dim=-1)
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return denormalized_bboxes
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