ego坐标系投影到uv平面

最新推荐文章于 2023-12-19 23:34:19 发布

conquer777

最新推荐文章于 2023-12-19 23:34:19 发布

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分类专栏： 3D目标检测文章标签： uv 平面深度学习

本文链接：https://blog.csdn.net/asdapple117/article/details/127104999

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def reference_porint_project(reference_points, map_range, img_metas):
    
    points_shape = list(reference_points.shape)
    points_shape[-1] = 1
    
    ## reference_points  2d -> 3d
    reference_points_3d = torch.cat((reference_points,torch.zeros(points_shape,device=reference_points.device)),dim=-1)
    
    # 0-1尺度 --> ego map尺度
    reference_points_3d[..., 0:1] = reference_points_3d[..., 0:1]*(map_range[3] - map_range[0]) + map_range[0]  #x轴
    reference_points_3d[..., 1:2] = reference_points_3d[..., 1:2]*(map_range[4] - map_range[1]) + map_range[1]  #y轴
    reference_points_3d[..., 2:3] = reference_points_3d[..., 2:3]*(map_range[5] - map_range[2]) + map_range[2]  #z轴
    
    cam2ego_rotation = reference_points_3d.new_tensor(img_metas[0]['cam2ego_rotation'])
    cam2ego_translation = reference_points_3d.new_tensor(img_metas[0]['cam2ego_translation'])
    cam_intrinsic = reference_points_3d.new_tensor(img_metas[0]['cam_intrinsic'])
    
     ### ego 2 cam
    reference_points_3d = reference_points_3d - cam2ego_translation
    reference_points_3d = reference_points_3d @ cam2ego_rotation
    
    ### 3D to 2D projection
    proj_mat_expanded = torch.eye(
          4, device=cam_intrinsic.device, dtype=cam_intrinsic.dtype)
    proj_mat_expanded[:3, :3] = cam_intrinsic
    proj_mat = proj_mat_expanded
    
    points_4 = torch.cat([reference_points_3d, reference_points_3d.new_ones(points_shape)], dim=-1)
    point_2d = points_4 @ proj_mat.T
    reference_points_uv_origin = point_2d[..., :2] / point_2d[..., 2:3]
    # if with_depth:
    #     reference_points_uv_origin = torch.cat([reference_points_uv_origin, point_2d[..., 2:3]], dim=-1)
    
    reference_points_uv_origin = (reference_points_uv_origin-1).round()
    
    
    fov_inds = ((reference_points_uv_origin[:,:, 0] < img_metas[0]['img_shape'][1])
                & (reference_points_uv_origin[:,:, 0] >= 0)
                & (reference_points_uv_origin[:,: ,1] < img_metas[0]['img_shape'][0])
                & (reference_points_uv_origin[:,: ,1] >= 0))
    
    reference_points_uv = reference_points_uv_origin[0][fov_inds[0], :2]
    
    # 图像尺度 --> 0-1尺度
    reference_points_uv[..., 0] /= img_metas[0]['img_shape'][1] # 长宽归一化
    reference_points_uv[..., 1] /= img_metas[0]['img_shape'][0]
    
    
    return reference_points_uv