update 2d viewer

Author: hailanyi

kitti_3D_detection_viewer.py

@@ -3,8 +3,8 @@
 from dataset.kitti_dataset import KittiDetectionDataset
 
 def kitti_viewer():
-    root="H:/data/object detection/kitti/training"
-    label_path = "H:/data/object detection/kitti/training/label_2"
+    root=r"L:\data\kitti\detection\kitti\training"
+    label_path = r"L:\data\kitti\detection\kitti\training\label_2"
     dataset = KittiDetectionDataset(root,label_path)
 
     vi = Viewer(box_type="Kitti")
@@ -23,7 +23,7 @@ def kitti_viewer():
         vi.add_image(image)
         vi.set_extrinsic_mat(V2C)
         vi.set_intrinsic_mat(P2)
-        vi.show_2D()
+        vi.show_2D(show_box_heading=False)
         vi.show_3D()
 
 

viewer/box_op.py

@@ -205,7 +205,7 @@ def get_line_boxes(boxes,
 
     return return_list
 
-def get_box_points(points, pose=None):
+def get_box_points(points, pose=None,show_box_heading=True):
     """
     box to points
     :param points: (7,),box
@@ -323,7 +323,10 @@ def get_box_points(points, pose=None):
     l4[:, 2] = h / 2
     l4[:, 3] = i
 
-    point_mat=np.mat(np.concatenate((z1,z2,z3,z4,w1,w2,w3,w4,l1,l2,l3,l4,d1,d2,d3,d4)))#
+    if show_box_heading:
+        point_mat = np.mat(np.concatenate((z1, z2, z3, z4, w1, w2, w3, w4, l1, l2, l3, l4, d1, d2, d3, d4)))
+    else:
+        point_mat = np.mat(np.concatenate((z1, z2, z3, z4, w1, w2, w3, w4, l1, l2, l3, l4)))
 
     angle=point[6]-PI/2
 

viewer/viewer.py

@@ -404,7 +404,7 @@ def show_3D(self):
         self.points_info.clear()
         self.boxes_info.clear()
 
-    def show_2D(self,box_color = (255,0,0),show_box_info=False,show_ids=True,points_colors=(0,0,255)):
+    def show_2D(self,box_color = (255,0,0),show_box_info=False,show_ids=True,points_colors=(0,0,255), show_box_heading=True):
         """
         show object on image
         :param box_color: (list or tuple(3,)), default color
@@ -435,7 +435,7 @@ def show_2D(self,box_color = (255,0,0),show_box_info=False,show_ids=True,points_
                     else:
                         color = box_color
 
-                    pts_3d_cam = get_box_points(box)
+                    pts_3d_cam = get_box_points(box,show_box_heading=show_box_heading)
                     pts_3d_cam = velo_to_cam(pts_3d_cam[:,0:3],self.cam_extrinsic_mat)
 
                     all_img_pts = np.matmul(pts_3d_cam, self.cam_intrinsic_mat.T)  # (N, 3)