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render_annotation fixed #34

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render_annotation fixed #34

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26 changes: 13 additions & 13 deletions lyft_dataset_sdk/lyftdataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1062,8 +1062,7 @@ def render_annotation(

fig, axes = plt.subplots(1, 2, figsize=(18, 9))

# Figure out which camera the object is fully visible in (this may return nothing)
boxes, cam = [], []
# Figure out which camera the object is visible in, with the given `box_vis_level` (this may return nothing)
cams = [key for key in sample_record["data"].keys() if "CAM" in key]
for cam in cams:
_, boxes, _ = self.lyftd.get_sample_data(
Expand All @@ -1080,14 +1079,15 @@ def render_annotation(
lidar = sample_record["data"]["LIDAR_TOP"]
data_path, boxes, camera_intrinsic = self.lyftd.get_sample_data(lidar, selected_anntokens=[ann_token])
LidarPointCloud.from_file(data_path).render_height(axes[0], view=view)
for box in boxes:
c = np.array(self.get_color(box.name)) / 255.0
box.render(axes[0], view=view, colors=(c, c, c))
corners = view_points(boxes[0].corners(), view, False)[:2, :]
axes[0].set_xlim([np.min(corners[0, :]) - margin, np.max(corners[0, :]) + margin])
axes[0].set_ylim([np.min(corners[1, :]) - margin, np.max(corners[1, :]) + margin])
axes[0].axis("off")
axes[0].set_aspect("equal")
box = boxes[0]
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IMO it would be great to add an assert or write in a way that will fail in case there are more than one boxes, e.g.

Suggested change
box = boxes[0]
box, = boxes

and same with removing the loop below.

c = np.array(self.get_color(box.name)) / 255.0
box.render(axes[0], view=view, colors=(c, c, c))
corners = view_points(box.corners(), view, False)[:2, :]
axes[0].set_xlim([np.min(corners[0, :]) - margin, np.max(corners[0, :]) + margin])
axes[0].set_ylim([np.min(corners[1, :]) - margin, np.max(corners[1, :]) + margin])
axes[0].set_title("LIDAR_TOP")
axes[0].axis("off")
axes[0].set_aspect("equal")

# Plot CAMERA view
data_path, boxes, camera_intrinsic = self.lyftd.get_sample_data(cam, selected_anntokens=[ann_token])
Expand All @@ -1096,9 +1096,9 @@ def render_annotation(
axes[1].set_title(self.lyftd.get("sample_data", cam)["channel"])
axes[1].axis("off")
axes[1].set_aspect("equal")
for box in boxes:
c = np.array(self.get_color(box.name)) / 255.0
box.render(axes[1], view=camera_intrinsic, normalize=True, colors=(c, c, c))
box = boxes[0]
c = np.array(self.get_color(box.name)) / 255.0
box.render(axes[1], view=camera_intrinsic, normalize=True, colors=(c, c, c))

if out_path is not None:
plt.savefig(out_path)
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