Function plot_rect3d_on_img

mmdet3d/core/visualizer/image_vis.py:205–230

Plot the boundary lines of 3D rectangular on 2D images. Args: img (numpy.array): The numpy array of image. num_rects (int): Number of 3D rectangulars. rect_corners (numpy.array): Coordinates of the corners of 3D rectangulars. Should be in the shape of [num_re

(img,
                       num_rects,
                       rect_corners,
                       color=(0, 255, 0),
                       thickness=1)

def plot_rect3d_on_img(img,
                       num_rects,
                       rect_corners,
                       color=(0, 255, 0),
                       thickness=1):
    """Plot the boundary lines of 3D rectangular on 2D images.

    Args:
        img (numpy.array): The numpy array of image.
        num_rects (int): Number of 3D rectangulars.
        rect_corners (numpy.array): Coordinates of the corners of 3D
            rectangulars. Should be in the shape of [num_rect, 8, 2].
        color (tuple[int], optional): The color to draw bboxes.
            Default: (0, 255, 0).
        thickness (int, optional): The thickness of bboxes. Default: 1.
    """
    line_indices = ((0, 1), (0, 3), (0, 4), (1, 2), (1, 5), (3, 2), (3, 7),
                    (4, 5), (4, 7), (2, 6), (5, 6), (6, 7))
    for i in range(num_rects):
        corners = rect_corners[i].astype(np.int)
        for start, end in line_indices:
            cv2.line(img, (corners[start, 0], corners[start, 1]),
                     (corners[end, 0], corners[end, 1]), color, thickness,
                     cv2.LINE_AA)

    return img.astype(np.uint8)


def draw_lidar_bbox3d_on_img(bboxes3d,