84 lines
3.4 KiB
Python
84 lines
3.4 KiB
Python
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import numpy as np
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def get_objects_from_label(label_file):
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with open(label_file, 'r') as f:
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lines = f.readlines()
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objects = [Object3d(line) for line in lines]
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return objects
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def cls_type_to_id(cls_type):
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type_to_id = {'Car': 1, 'Pedestrian': 2, 'Cyclist': 3, 'Van': 4}
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if cls_type not in type_to_id.keys():
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return -1
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return type_to_id[cls_type]
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class Object3d(object):
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def __init__(self, line):
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label = line.strip().split(' ')
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self.src = line
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self.cls_type = label[0]
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self.cls_id = cls_type_to_id(self.cls_type)
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self.truncation = float(label[1])
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self.occlusion = float(label[2]) # 0:fully visible 1:partly occluded 2:largely occluded 3:unknown
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self.alpha = float(label[3])
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self.box2d = np.array((float(label[4]), float(label[5]), float(label[6]), float(label[7])), dtype=np.float32)
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self.h = float(label[8])
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self.w = float(label[9])
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self.l = float(label[10])
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self.loc = np.array((float(label[11]), float(label[12]), float(label[13])), dtype=np.float32)
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self.dis_to_cam = np.linalg.norm(self.loc)
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self.ry = float(label[14])
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self.score = float(label[15]) if label.__len__() == 16 else -1.0
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self.level_str = None
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self.level = self.get_custom_obj_level()
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def get_custom_obj_level(self):
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height = float(self.box2d[3]) - float(self.box2d[1]) + 1
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if height >= 40 and self.truncation <= 0.15 and self.occlusion <= 0:
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self.level_str = 'Easy'
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return 0 # Easy
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elif height >= 25 and self.truncation <= 0.3 and self.occlusion <= 1:
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self.level_str = 'Moderate'
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return 1 # Moderate
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elif height >= 25 and self.truncation <= 0.5 and self.occlusion <= 2:
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self.level_str = 'Hard'
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return 2 # Hard
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else:
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self.level_str = 'UnKnown'
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return -1
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def generate_corners3d(self):
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"""
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generate corners3d representation for this object
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:return corners_3d: (8, 3) corners of box3d in camera coord
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"""
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l, h, w = self.l, self.h, self.w
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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 = [0, 0, 0, 0, -h, -h, -h, -h]
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z_corners = [w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2]
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R = np.array([[np.cos(self.ry), 0, np.sin(self.ry)],
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[0, 1, 0],
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[-np.sin(self.ry), 0, np.cos(self.ry)]])
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corners3d = np.vstack([x_corners, y_corners, z_corners]) # (3, 8)
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corners3d = np.dot(R, corners3d).T
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corners3d = corners3d + self.loc
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return corners3d
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def to_str(self):
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print_str = '%s %.3f %.3f %.3f box2d: %s hwl: [%.3f %.3f %.3f] pos: %s ry: %.3f' \
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% (self.cls_type, self.truncation, self.occlusion, self.alpha, self.box2d, self.h, self.w, self.l,
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self.loc, self.ry)
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return print_str
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def to_custom_format(self):
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custom_str = '%s %.2f %d %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f' \
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% (self.cls_type, self.truncation, int(self.occlusion), self.alpha, self.box2d[0], self.box2d[1],
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self.box2d[2], self.box2d[3], self.h, self.w, self.l, self.loc[0], self.loc[1], self.loc[2],
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self.ry)
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return custom_str
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