已知一帧点云的检测结果(x, y, z, w, h, l, yaw),calib知道文件所在路径。要得到同一帧2D图像的检测框(x1,y1,x2,y2)和alpha朝向角,要求用Python写出一个函数,写出代码并给出实例。
时间: 2024-04-08 18:35:17 浏览: 113
当给定一帧点云的检测结果(x, y, z, w, h, l, yaw)和对应的calib文件路径时,我们可以通过以下函数来获取同一帧2D图像的检测框(x1, y1, x2, y2)和alpha朝向角:
```python
import numpy as np
import os
def get_2d_detection_box_and_alpha(calib_path, x, y, z, w, h, l, yaw):
# Load calibration matrix from calib file
calib = np.fromfile(calib_path, dtype=np.float32).reshape(3, 4)
# Convert 3D point to camera coordinate
point_3d = np.array([x, y, z, 1.0])
point_3d = np.dot(calib, point_3d)
point_3d /= point_3d[2]
# Project 3D point to 2D image plane
point_2d = point_3d[:2]
# Calculate 2D detection box
x1 = point_2d[0] - w / 2
y1 = point_2d[1] - h / 2
x2 = point_2d[0] + w / 2
y2 = point_2d[1] + h / 2
# Calculate alpha (rotation angle)
alpha = np.arctan2(point_3d[0], point_3d[2]) - yaw
return x1, y1, x2, y2, alpha
# Example usage
calib_path = "path/to/calib/file"
x, y, z, w, h, l, yaw = 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0
x1, y1, x2, y2, alpha = get_2d_detection_box_and_alpha(calib_path, x, y, z, w, h, l, yaw)
print("2D detection box:", x1, y1, x2, y2)
print("Alpha:", alpha)
```
请注意,以上代码仅给出了一个示例函数,并假设加载的calib文件是一个3x4的矩阵。在实际应用中,你需要根据你的数据格式和具体的calib文件结构进行相应的调整。
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