Merge branch 'master' of https://github.com/naurril/SUSTechPoints

naurril · Mar 29, 2020 · c9ee162 · c9ee162
2 parents 9b0f3f7 + ab0c8df
commit c9ee162
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Showing 13 changed files with 108 additions and 94 deletions.
diff --git a/data/example/label/000950.json b/data/example/label/000950.json
diff --git a/data/example/label/000965.json b/data/example/label/000965.json
diff --git a/data/example/label/000970.json b/data/example/label/000970.json
diff --git a/data/example/label/000975.json b/data/example/label/000975.json
diff --git a/operations.md b/operations.md
diff --git a/public/js/data.js b/public/js/data.js
@@ -1185,7 +1185,7 @@ var data = {
             },
 
             create_box_by_view_rect: function(x,y,w,h, camera, center){
-                var rotation_z = camera.rotation.z;
+                var rotation_z = camera.rotation.z + Math.PI/2;
 
                 var points = this.points;
                 var pos_array = points.geometry.getAttribute("position").array;
@@ -1461,9 +1461,9 @@ var data = {
                     -h,-h,h, -h,-h,-h,
 
                     //direction
-                    0, 0, h+0.1, 0, h, h+0.1,
-                    -h,h/2,h+0.1, 0, h, h+0.1,
-                    h,h/2,h+0.1, 0, h, h+0.1,
+                    0,   0,  h+0.1,  h, 0, h+0.1,
+                    h/2, -h, h+0.1,  h, 0, h+0.1,
+                    h/2,  h, h+0.1,  h, 0, h+0.1,
 
                     //side direction
                     // h, h/2, h,  h, h, 0,

diff --git a/public/js/main.js b/public/js/main.js
@@ -841,11 +841,13 @@ function update_subview_by_windowsize(box){
         var view_height = Math.floor( window.innerHeight * view.height );
 
         if (ii==1){
-            exp_camera_width = box.scale.x*1.5*view.zoom_ratio;
-            exp_camera_height = box.scale.y*1.5*view.zoom_ratio;
+            // width: y
+            // length: x
+            exp_camera_height = box.scale.x*1.5*view.zoom_ratio;
+            exp_camera_width = box.scale.y*1.5*view.zoom_ratio;
 
             exp_camera_clip = box.scale.z+0.8;
-        } else if (ii==2){
+        } else if (ii==2){            
             exp_camera_width = box.scale.x*1.5*view.zoom_ratio;
             exp_camera_height = box.scale.z*1.5*view.zoom_ratio;
 
@@ -892,7 +894,7 @@ function update_subview_by_bbox(box){
     //
     views[1].camera.rotation.x= r.x;
     views[1].camera.rotation.y= r.y;
-    views[1].camera.rotation.z= r.z;
+    views[1].camera.rotation.z= r.z-Math.PI/2;
 
     views[1].camera.position.x= p.x;
     views[1].camera.position.y= p.y;
@@ -1311,7 +1313,7 @@ function change_transform_control_view(){
 function add_bbox(obj_type){
     // todo: move to data.world
     var pos = get_mouse_location_in_world();
-    var rotation = {x:0, y:0, z:views[0].camera.rotation.z};
+    var rotation = {x:0, y:0, z:views[0].camera.rotation.z+Math.PI/2};
 
     var obj_cfg = get_obj_cfg_by_type(obj_type);
     var scale = {   

diff --git a/public/js/obj_cfg.js b/public/js/obj_cfg.js
@@ -1,19 +1,19 @@
 // size is the dimension of the object in x/y/z axis, with unit meter.
 var obj_type_map = {
-    Car:            {color: '#00ff00',  size:[1.8, 4.5, 1.5]},
-    Van:            {color: '#00ff00',  size:[1.8, 4.5, 1.5]},
-    Bus:            {color: '#ffff00',  size:[3, 13, 3.5]},
-    Pedestrian:     {color: '#ff0000',  size:[0.5, 0.4, 1.7]},
-    Rider:          {color: '#ff8800',  size:[0.6, 1.6, 1.6]},
-    Cyclist:        {color: '#ff8800',  size:[0.6, 1.6, 1.6]},
-    Bicycle:        {color: '#88ff00',  size:[0.6, 1.6, 1.2]},
-    BicycleGroup:   {color: '#88ff00',  size:[0.6, 1.6, 1.2]},
-    Motor:          {color: '#aaaa00',  size:[0.6, 1.6, 1.2]},
-    Truck:          {color: '#00ffff',  size:[2.8, 10, 3]},
-    Tram:           {color: '#00ffff',  size:[2.8, 10, 3]},
-    Animal:         {color: '#00aaff',  size:[0.6, 1.6, 1.2]},
-    Misc:           {color: '#008888',  size:[1.8, 4.5, 1.5]},
-    Unknown:        {color: '#008888',  size:[1.8, 4.5, 1.5]},
+    Car:            {color: '#00ff00',  size:[4.5, 1.8, 1.5]},
+    Van:            {color: '#00ff00',  size:[4.5, 1.8, 1.5]},
+    Bus:            {color: '#ffff00',  size:[13, 3, 3.5]},
+    Pedestrian:     {color: '#ff0000',  size:[0.4, 0.5, 1.7]},
+    Rider:          {color: '#ff8800',  size:[1.6, 0.6, 1.6]},
+    Cyclist:        {color: '#ff8800',  size:[1.6, 0.6, 1.6]},
+    Bicycle:        {color: '#88ff00',  size:[1.6, 0.6, 1.2]},
+    BicycleGroup:   {color: '#88ff00',  size:[1.6, 0.6, 1.2]},
+    Motor:          {color: '#aaaa00',  size:[1.6, 0.6, 1.2]},
+    Truck:          {color: '#00ffff',  size:[10., 2.8, 3]},
+    Tram:           {color: '#00ffff',  size:[10., 2.8, 3]},
+    Animal:         {color: '#00aaff',  size:[1.6, 0.6, 1.2]},
+    Misc:           {color: '#008888',  size:[4.5, 1.8, 1.5]},
+    Unknown:        {color: '#008888',  size:[4.5, 1.8, 1.5]},
 }
 
 

diff --git a/public/js/side_view_op.js b/public/js/side_view_op.js
@@ -841,6 +841,12 @@ function on_z_auto_shrink(direction){
 
         })
     } else{
+        direction = {
+            x: direction.y,
+            y: -direction.x,
+            z: 0,
+        }
+
         auto_shrink(extreme, direction)
     }
 
@@ -851,9 +857,15 @@ function on_z_auto_shrink(direction){
 
 function on_z_edge_changed(ratio, direction){
 
-    var delta = {
-        x: selected_box.scale.x * ratio.x * direction.x,
-        y: selected_box.scale.y * ratio.y * direction.y,
+    var delta = {        
+        x: selected_box.scale.x * ratio.y * direction.y,
+        y: selected_box.scale.y * ratio.x * direction.x,
+        z: 0,
+    };
+
+    direction ={
+        x: direction.y,
+        y: -direction.x,
         z: 0,
     };
 
@@ -887,10 +899,14 @@ function on_z_direction_changed(theta, sticky){
 }
 
 
+//ratio.y  vertical
+//ratio.x  horizental
+// box.x  vertical
+// box.y  horizental
 function on_z_moved(ratio){
-    var delta = {
-        x: selected_box.scale.x*ratio.x,
-        y: selected_box.scale.y*ratio.y
+    var delta = {        
+        x: selected_box.scale.x*ratio.y,
+        y: -selected_box.scale.y*ratio.x,
     };
 
 
@@ -903,6 +919,12 @@ function on_z_moved(ratio){
 
 function on_z_scaled(ratio){
 
+    ratio = {
+        x: ratio.y,
+        y: ratio.x,
+        z: 0,
+    };
+
     for (var axis in ratio){
         if (ratio[axis] != 0){
             selected_box.scale[axis] *= 1+ratio[axis];
@@ -915,7 +937,7 @@ function on_z_scaled(ratio){
 function on_z_wheel(wheel_direction){
     on_wheel(views[1], wheel_direction);
     update_subview_by_windowsize(selected_box);
-    z_view_handle.update_view_handle(views[1].viewport, {x: selected_box.scale.x, y:selected_box.scale.y});
+    z_view_handle.update_view_handle(views[1].viewport, {x: selected_box.scale.y, y:selected_box.scale.x});
 }
 
 function on_z_auto_rotate(){
@@ -1161,7 +1183,7 @@ var view_handles = {
     },
 
     update_view_handle: function(){
-        z_view_handle.update_view_handle(views[1].viewport, {x: selected_box.scale.x, y:selected_box.scale.y});
+        z_view_handle.update_view_handle(views[1].viewport, {x: selected_box.scale.y, y:selected_box.scale.x});
         y_view_handle.update_view_handle(views[2].viewport, {x: selected_box.scale.x, y:selected_box.scale.z});
         x_view_handle.update_view_handle(views[3].viewport, {x: selected_box.scale.y, y:selected_box.scale.z});
     }, 

diff --git a/public/js/util.js b/public/js/util.js
@@ -66,6 +66,7 @@ function psr_to_xyz(p,s,r){
     var x=s.x/2;
     var y=s.y/2;
     var z=s.z/2;
+    /*
     var local_coord = [
         -x, y, -z, 1,   x, y, -z, 1,  //front-left-bottom, front-right-bottom
         x, y, z, 1,    -x, y, z, 1,  //front-right-top,   front-left-top
@@ -74,6 +75,16 @@ function psr_to_xyz(p,s,r){
         x, -y, z, 1,   -x, -y, z, 1,        
         
     ];
+    */
+
+   var local_coord = [
+    x, y, -z, 1,   x, -y, -z, 1,  //front-left-bottom, front-right-bottom
+    x, -y, z, 1,   x, y, z, 1,  //front-right-top,   front-left-top
+
+    -x, y, -z, 1,   -x, -y, -z, 1,  //rear-left-bottom, rear-right-bottom
+    -x, -y, z, 1,   -x, y, z, 1,  //rear-right-top,   rear-left-top
+
+   ];
 
     var world_coord = matmul(trans_matrix, local_coord, 4);
     var w = world_coord;

diff --git a/public/js/view.js b/public/js/view.js
@@ -306,6 +306,11 @@ function create_top_view(scene){
     camera.position.y = 0;
     //camera.up.set( 0, 1, 0);
     //camera.lookAt( 0, 0, -3 );
+
+    camera.rotation.x=0;
+    camera.rotation.y=0;
+    camera.rotation.z=-Math.PI/2;;
+
     view.camera = camera;
 
     view.viewport={

diff --git a/tools/trans_kitti_labels.py b/tools/trans_kitti_labels.py
@@ -37,13 +37,13 @@
 import math
 import numpy as np
 
-# label_path = '../public/data/kitti/label_2'
-# my_label_path = '../public/data/kitti/label'
-# calib_path = "/home/lie/diskd/data/kitti/3d-obj-det/training/calib"
+label_path = './data/kitti/label_2'
+my_label_path = './data/kitti/label'
+calib_path = "./data/kitti/calib_2"
 
-label_path = '/home/lie/disk640/data/kitti/label_2'
-my_label_path = '/home/lie/disk640/data/kitti/sustechpoints_label'
-calib_path = "/home/lie/disk640/data/kitti/data_object_calib/training/calib"
+#label_path = '/home/lie/disk640/data/kitti/label_2'
+#my_label_path = '/home/lie/disk640/data/kitti/sustechpoints_label'
+#calib_path = "/home/lie/disk640/data/kitti/data_object_calib/training/calib"
 #pc_path="/home/lie/disk640/data/kitti/velodyne"
 
 
@@ -97,15 +97,20 @@ def parse_one_obj(l):
             #print(trans_pos)
 
             obj["obj_type"] = words[0]
-            obj["psr"] = {"scale": {"z":float(words[8]), "x":float(words[9]), "y":float(words[10])},
+            obj["psr"] = {"scale": 
+                           {"z":float(words[8]),    #height
+                             "x":float(words[10]),  #length
+                             "y":float(words[9])},  #width
                             "position": {"x":trans_pos[0], "y":trans_pos[1], "z":trans_pos[2]+float(words[8])/2},
-                            "rotation": {"x":0, "z":math.pi-float(words[14]), "y":0}}
+                            "rotation": {"x":0, 
+                                         "y":0,
+                                         "z": -math.pi/2 -float(words[14])}}
             obj["obj_id"] = ""
             return obj
 
         objs = map(parse_one_obj, lines)
-        filtered_objs = [x for x in filter(lambda obj: obj["obj_type"]!='DontCare', objs)]
-        print(filtered_objs)
+        filtered_objs = [x for x in objs]#[x for x in filter(lambda obj: obj["obj_type"]!='DontCare', objs)]
+        #print(filtered_objs)
 
         with open(os.path.join(my_label_path, frame + ".json"), 'w') as outfile:
             json.dump(filtered_objs, outfile)
diff --git a/tools/trans_labels.py b/tools/trans_labels.py
@@ -0,0 +1,18 @@
+import json
+import os
+import math
+
+root_dir = "./data/example/label"
+
+for f in os.listdir(root_dir):
+    fpath = os.path.join(root_dir, f)
+    if os.path.splitext(f)[1] == ".json":
+        with open(fpath, "r") as fin:
+            objs = json.load(fin)
+        for o in objs:
+            o["psr"]["rotation"]["z"] = math.pi/2 + o["psr"]["rotation"]["z"]
+            o["psr"]["scale"]["y"], o["psr"]["scale"]["x"] = o["psr"]["scale"]["x"],o["psr"]["scale"]["y"]
+        print(fpath)
+        #print(objs)
+        with open(fpath, "w") as fout:
+            json.dump(objs, fout)