73 lines
2.7 KiB
Python
73 lines
2.7 KiB
Python
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from .base_points import BasePoints
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class CameraPoints(BasePoints):
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"""Points of instances in CAM coordinates.
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Args:
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tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
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points_dim (int): Number of the dimension of a point.
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Each row is (x, y, z). Default to 3.
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attribute_dims (dict): Dictionary to indicate the meaning of extra
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dimension. Default to None.
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Attributes:
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tensor (torch.Tensor): Float matrix of N x points_dim.
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points_dim (int): Integer indicating the dimension of a point.
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Each row is (x, y, z, ...).
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attribute_dims (bool): Dictionary to indicate the meaning of extra
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dimension. Default to None.
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rotation_axis (int): Default rotation axis for points rotation.
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"""
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def __init__(self, tensor, points_dim=3, attribute_dims=None):
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super(CameraPoints, self).__init__(
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tensor, points_dim=points_dim, attribute_dims=attribute_dims
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)
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self.rotation_axis = 1
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def flip(self, bev_direction="horizontal"):
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"""Flip the boxes in BEV along given BEV direction."""
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if bev_direction == "horizontal":
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self.tensor[:, 0] = -self.tensor[:, 0]
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elif bev_direction == "vertical":
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self.tensor[:, 2] = -self.tensor[:, 2]
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def in_range_bev(self, point_range):
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"""Check whether the points are in the given range.
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Args:
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point_range (list | torch.Tensor): The range of point
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in order of (x_min, y_min, x_max, y_max).
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Returns:
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torch.Tensor: Indicating whether each point is inside \
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the reference range.
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"""
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in_range_flags = (
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(self.tensor[:, 0] > point_range[0])
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& (self.tensor[:, 2] > point_range[1])
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& (self.tensor[:, 0] < point_range[2])
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& (self.tensor[:, 2] < point_range[3])
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)
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return in_range_flags
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def convert_to(self, dst, rt_mat=None):
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"""Convert self to ``dst`` mode.
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Args:
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dst (:obj:`CoordMode`): The target Point mode.
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rt_mat (np.ndarray | torch.Tensor): The rotation and translation
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matrix between different coordinates. Defaults to None.
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The conversion from `src` coordinates to `dst` coordinates
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usually comes along the change of sensors, e.g., from camera
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to LiDAR. This requires a transformation matrix.
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Returns:
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:obj:`BasePoints`: The converted point of the same type \
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in the `dst` mode.
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"""
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from mmdet3d.core.bbox import Coord3DMode
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return Coord3DMode.convert_point(point=self, src=Coord3DMode.CAM, dst=dst, rt_mat=rt_mat)
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