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65 lines
2.5 KiB
Python
65 lines
2.5 KiB
Python
# Copyright (c) OpenMMLab. All rights reserved.
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# Copyright (c) Alibaba, Inc. and its affiliates.
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from .base_points import BasePoints
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class CameraPoints(BasePoints):
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"""Points of instances in CAM coordinates.
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Args:
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tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
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points_dim (int, optional): Number of the dimension of a point.
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Each row is (x, y, z). Defaults to 3.
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attribute_dims (dict, optional): Dictionary to indicate the
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meaning of extra dimension. Defaults to None.
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Attributes:
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tensor (torch.Tensor): Float matrix of N x points_dim.
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points_dim (int): Integer indicating the dimension of a point.
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Each row is (x, y, z, ...).
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attribute_dims (bool): Dictionary to indicate the meaning of extra
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dimension. Defaults to None.
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rotation_axis (int): Default rotation axis for points rotation.
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"""
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def __init__(self, tensor, points_dim=3, attribute_dims=None):
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super(CameraPoints, self).__init__(
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tensor, points_dim=points_dim, attribute_dims=attribute_dims)
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self.rotation_axis = 1
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def flip(self, bev_direction='horizontal'):
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"""Flip the points along given BEV direction.
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Args:
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bev_direction (str): Flip direction (horizontal or vertical).
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"""
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if bev_direction == 'horizontal':
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self.tensor[:, 0] = -self.tensor[:, 0]
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elif bev_direction == 'vertical':
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self.tensor[:, 2] = -self.tensor[:, 2]
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@property
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def bev(self):
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"""torch.Tensor: BEV of the points in shape (N, 2)."""
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return self.tensor[:, [0, 2]]
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def convert_to(self, dst, rt_mat=None):
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"""Convert self to ``dst`` mode.
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Args:
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dst (:obj:`CoordMode`): The target Point mode.
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rt_mat (np.ndarray | torch.Tensor, optional): The rotation and
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translation matrix between different coordinates.
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Defaults to None.
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The conversion from `src` coordinates to `dst` coordinates
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usually comes along the change of sensors, e.g., from camera
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to LiDAR. This requires a transformation matrix.
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Returns:
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:obj:`BasePoints`: The converted point of the same type
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in the `dst` mode.
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"""
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from mmdet3d.core.bbox import Coord3DMode
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return Coord3DMode.convert_point(
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point=self, src=Coord3DMode.CAM, dst=dst, rt_mat=rt_mat)
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