'''将点云数据3D框投影到BEV'''def show_lidar_topview_with_boxes(img, objects, calib):def bbox3d(obj):box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P) # 获取3D框-图像、3D框-相机坐标系box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d) # 将相机坐标...
'''将点云数据3D框投影到BEV'''def show_lidar_topview_with_boxes(img, objects, calib):def bbox3d(obj):box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P) # 获取3D框-图像、3D框-相机坐标系box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d) # 将相机坐标...