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bostondiditeam / MV3D

Multi-View 3D Object Detection Network for Autonomous Driving
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When running 'python data.py', error appears about name Matrix MT" #14

Open thudepwcp13 opened 7 years ago

thudepwcp13 commented 7 years ago

Traceback (most recent call last): File "data.py", line 644, in preproces(data_dir, frames_index) File "data.py", line 565, in preproces data_in_single_driver(cfg.RAW_DATA_SETS_DIR, key, driver, frames_index) File "data.py", line 493, in data_in_single_driver dump_bbox_on_camera_image(save_preprocess_dir, dataset, objects, date, drive, frames_index, overwrite=True) File "data.py", line 394, in dump_bbox_on_camera_image img = draw.draw_box3d_on_camera(rgb, gt_boxes3d) File "/home/wuchengpeng/MV3D/src/net/utility/draw.py", line 35, in draw_box3d_on_camera projections = box3d.box3d_to_rgb_box(boxes3d) File "/home/wuchengpeng/MV3D/src/net/processing/boxes3d.py", line 120, in box3d_to_rgb_box if Mt is None: Mt = np.array(MATRIX_Mt) NameError: name 'MATRIX_Mt' is not defined

So, I search the data.py, boxes3d.py, draw.py, but I don't find the definition of MATRIX_MT and MATRIX_KT, where are them?

junwenchen commented 7 years ago

@thudepwcp13 I have the same problem. Have you solved it?

lihua213 commented 7 years ago

@thudepwcp13 @junwenchen

rgb camera

MATRIX_Mt = ([[ 2.34773698e-04, 1.04494074e-02, 9.99945389e-01, 0.00000000e+00], [ -9.99944155e-01, 1.05653536e-02, 1.24365378e-04, 0.00000000e+00], [ -1.05634778e-02, -9.99889574e-01, 1.04513030e-02, 0.00000000e+00], [ 5.93721868e-02, -7.51087914e-02, -2.72132796e-01, 1.00000000e+00]])

MATRIX_Kt = ([[ 721.5377, 0. , 0. ], [ 0. , 721.5377, 0. ], [ 609.5593, 172.854 , 1. ]])

ghost commented 6 years ago

You can define MATRIX_Mt and MATRIX_Kt in the configuration file, i.e. config.py

Anida-qin commented 6 years ago

@thudepwcp13 @Fafadada hi~ I m new in 3d object detection. How did we get the MATRIX_Mt and MATRIX_Kt ? What does it mean ? It troubles me for some time. I think when we detect the box3d, the only thing needs to do is to multiply project matrix. And the project matrix should be 4*3. In addition, I didn't find same number in calib_cam_to_cam.txt and calib_velo_to_cam.txt and calib_imu_to_velo.txt. Could u help me ? Thanks a lot.