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[Fix] Converting point with specified rt_matrix #556

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merged 3 commits into from
May 26, 2021
Merged

[Fix] Converting point with specified rt_matrix #556

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a8053c0
[Fix] Converting point with specify rt_matrix
WU-Wenhao May 18, 2021
699cead
boundary condition
WU-Wenhao May 18, 2021
41bdee4
more readability and comprehensibility
WU-Wenhao May 24, 2021
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15 changes: 11 additions & 4 deletions mmdet3d/core/bbox/structures/coord_3d_mode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -221,10 +221,15 @@ def convert_point(point, src, dst, rt_mat=None):
# TODO: LIDAR
# only implemented provided Rt matrix in cam-depth conversion
if src == Coord3DMode.LIDAR and dst == Coord3DMode.CAM:
rt_mat = arr.new_tensor([[0, -1, 0], [0, 0, -1], [1, 0, 0]])
if rt_mat is None:
rt_mat = arr.new_tensor([[0, -1, 0], [0, 0, -1], [1, 0, 0]])
elif src == Coord3DMode.CAM and dst == Coord3DMode.LIDAR:
rt_mat = arr.new_tensor([[0, 0, 1], [-1, 0, 0], [0, -1, 0]])
if rt_mat is None:
rt_mat = arr.new_tensor([[0, 0, 1], [-1, 0, 0], [0, -1, 0]])
elif src == Coord3DMode.DEPTH and dst == Coord3DMode.CAM:
# LIDAR-CAM conversion is different from DEPTH-CAM conversion
# because SUNRGB-D camera calibration files are different from
# that of KITTI, and currently we keep this hack
if rt_mat is None:
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rt_mat = arr.new_tensor([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
else:
Expand All @@ -238,9 +243,11 @@ def convert_point(point, src, dst, rt_mat=None):
rt_mat = rt_mat @ rt_mat.new_tensor([[1, 0, 0], [0, 0, 1],
[0, -1, 0]])
elif src == Coord3DMode.LIDAR and dst == Coord3DMode.DEPTH:
rt_mat = arr.new_tensor([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
if rt_mat is None:
rt_mat = arr.new_tensor([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
elif src == Coord3DMode.DEPTH and dst == Coord3DMode.LIDAR:
rt_mat = arr.new_tensor([[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
if rt_mat is None:
rt_mat = arr.new_tensor([[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
else:
raise NotImplementedError(
f'Conversion from Coord3DMode {src} to {dst} '
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