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Fix the intrinsix matrix if vertices of the bounding box is behind the camera

This commit is contained in:
wuhanstudio 2023-07-12 11:55:04 +01:00 committed by Blyron
parent 20a4a46182
commit 063cc9d902
1 changed files with 34 additions and 7 deletions
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41
Docs/tuto_G_bounding_boxes.md
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@ -50,10 +50,15 @@ camera.listen(image_queue.put)
We want to take 3D points from the simulation and project them into the 2D plane of the camera. Firstly, we need to construct the camera projection matrix: We want to take 3D points from the simulation and project them into the 2D plane of the camera. Firstly, we need to construct the camera projection matrix:
```py ```py
def build_projection_matrix(w, h, fov): def build_projection_matrix(w, h, fov, is_behind_camera=False):
focal = w / (2.0 * np.tan(fov * np.pi / 360.0)) focal = w / (2.0 * np.tan(fov * np.pi / 360.0))
K = np.identity(3) K = np.identity(3)
K[0, 0] = K[1, 1] = focal
if is_behind_camera:
K[0, 0] = K[1, 1] = -focal
else:
K[0, 0] = K[1, 1] = focal
K[0, 2] = w / 2.0 K[0, 2] = w / 2.0
K[1, 2] = h / 2.0 K[1, 2] = h / 2.0
return K return K
@ -99,6 +104,7 @@ fov = camera_bp.get_attribute("fov").as_float()
# Calculate the camera projection matrix to project from 3D -> 2D # Calculate the camera projection matrix to project from 3D -> 2D
K = build_projection_matrix(image_w, image_h, fov) K = build_projection_matrix(image_w, image_h, fov)
K_b = build_projection_matrix(image_w, image_h, fov, is_behind_camera=True)
``` ```
## Bounding boxes ## Bounding boxes
@ -191,7 +197,7 @@ while True:
forward_vec = vehicle.get_transform().get_forward_vector() forward_vec = vehicle.get_transform().get_forward_vector()
ray = bb.location - vehicle.get_transform().location ray = bb.location - vehicle.get_transform().location
if forward_vec.dot(ray) > 1: if forward_vec.dot(ray) > 0:
# Cycle through the vertices # Cycle through the vertices
verts = [v for v in bb.get_world_vertices(carla.Transform())] verts = [v for v in bb.get_world_vertices(carla.Transform())]
for edge in edges: for edge in edges:
@ -249,6 +255,11 @@ cv2.waitKey(1)
Now we use a modified game loop to draw the vehicle bounding boxes: Now we use a modified game loop to draw the vehicle bounding boxes:
```py ```py
def point_in_canvas(pos, img_h, img_w):
"""Return true if point is in canvas"""
if (pos[0] >= 0) and (pos[0] < img_w) and (pos[1] >= 0) and (pos[1] < img_h):
return True
return False
while True: while True:
# Retrieve and reshape the image # Retrieve and reshape the image
@ -279,12 +290,28 @@ while True:
forward_vec = vehicle.get_transform().get_forward_vector() forward_vec = vehicle.get_transform().get_forward_vector()
ray = npc.get_transform().location - vehicle.get_transform().location ray = npc.get_transform().location - vehicle.get_transform().location
if forward_vec.dot(ray) > 1: if forward_vec.dot(ray) > 0:
p1 = get_image_point(bb.location, K, world_2_camera)
verts = [v for v in bb.get_world_vertices(npc.get_transform())] verts = [v for v in bb.get_world_vertices(npc.get_transform())]
for edge in edges: for edge in edges:
p1 = get_image_point(verts[edge[0]], K, world_2_camera) p1 = get_image_point(verts[edge[0]], K, world_2_camera)
p2 = get_image_point(verts[edge[1]], K, world_2_camera) p2 = get_image_point(verts[edge[1]], K, world_2_camera)
p1_in_canvas = point_in_canvas(p1, image_h, image_w)
p2_in_canvas = point_in_canvas(p2, image_h, image_w)
if not p1_in_canvas and not p2_in_canvas:
continue
ray0 = verts[edge[0]] - camera.get_transform().location
ray1 = verts[edge[1]] - camera.get_transform().location
cam_forward_vec = camera.get_transform().get_forward_vector()
# One of the vertex is behind the camera
if not (cam_forward_vec.dot(ray0) > 0):
p1 = get_image_point(verts[edge[0]], K_b, world_2_camera)
if not (cam_forward_vec.dot(ray1) > 0):
p2 = get_image_point(verts[edge[1]], K_b, world_2_camera)
cv2.line(img, (int(p1[0]),int(p1[1])), (int(p2[0]),int(p2[1])), (255,0,0, 255), 1) cv2.line(img, (int(p1[0]),int(p1[1])), (int(p2[0]),int(p2[1])), (255,0,0, 255), 1)
cv2.imshow('ImageWindowName',img) cv2.imshow('ImageWindowName',img)
@ -330,7 +357,7 @@ while True:
forward_vec = vehicle.get_transform().get_forward_vector() forward_vec = vehicle.get_transform().get_forward_vector()
ray = npc.get_transform().location - vehicle.get_transform().location ray = npc.get_transform().location - vehicle.get_transform().location
if forward_vec.dot(ray) > 1: if forward_vec.dot(ray) > 0:
p1 = get_image_point(bb.location, K, world_2_camera)http://host.robots.ox.ac.uk/pascal/VOC/ p1 = get_image_point(bb.location, K, world_2_camera)http://host.robots.ox.ac.uk/pascal/VOC/
verts = [v for v in bb.get_world_vertices(npc.get_transform())] verts = [v for v in bb.get_world_vertices(npc.get_transform())]
x_max = -10000 x_max = -10000
@ -408,7 +435,7 @@ while True:
if dist < 50: if dist < 50:
forward_vec = vehicle.get_transform().get_forward_vector() forward_vec = vehicle.get_transform().get_forward_vector()
ray = npc.get_transform().location - vehicle.get_transform().location ray = npc.get_transform().location - vehicle.get_transform().location
if forward_vec.dot(ray) > 1: if forward_vec.dot(ray) > 0:
p1 = get_image_point(bb.location, K, world_2_camera) p1 = get_image_point(bb.location, K, world_2_camera)
verts = [v for v in bb.get_world_vertices(npc.get_transform())] verts = [v for v in bb.get_world_vertices(npc.get_transform())]
x_max = -10000 x_max = -10000