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Correct LiDAR (3DBox) -> Camera (3DBox) calculation #79

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Correct LiDAR (3DBox) -> Camera (3DBox) calculation #79

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16 changes: 6 additions & 10 deletions src/data_process/transformation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,16 +42,12 @@ def camera_to_lidar(x, y, z, V2C=None, R0=None, P2=None):
return tuple(p)


def lidar_to_camera(x, y, z, V2C=None, R0=None, P2=None):
def lidar_to_camera(x, y, z, h, V2C=None, R0=None, P2=None):
z = -h/2
p = np.array([x, y, z, 1])
if V2C is None or R0 is None:
p = np.matmul(cnf.Tr_velo_to_cam, p)
p = np.matmul(cnf.R0, p)
else:
p = np.matmul(V2C, p)
p = np.matmul(R0, p)
p = p[0:3]
return tuple(p)

p = np.dot(p, np.dot(V2C.T, R0.T))
return tuple(p[:3])


def camera_to_lidar_point(points):
Expand Down Expand Up @@ -98,7 +94,7 @@ def lidar_to_camera_box(boxes, V2C=None, R0=None, P2=None):
for box in boxes:
x, y, z, h, w, l, rz = box
(x, y, z), h, w, l, ry = lidar_to_camera(
x, y, z, V2C=V2C, R0=R0, P2=P2), h, w, l, -rz - np.pi / 2
x, y, z, h, V2C=V2C, R0=R0, P2=P2), h, w, l, -rz - np.pi / 2
# ry = angle_in_limit(ry)
ret.append([x, y, z, h, w, l, ry])
return np.array(ret).reshape(-1, 7)
Expand Down