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able to highlight and delete box in 3d mode

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evaluations/test (1).json 0 → 100644
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evaluations/test (2).json 0 → 100644
View file @ b5af198a
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\ No newline at end of file
evaluations/test (3).json 0 → 100644
View file @ b5af198a
{"frames":[{"add_box_count":19,"resize_count":23,"translate_count":6,"rotate_count":7,"delete_count":3,"label_count":13,"rotate_camera_count":74,"filename":"0000000133.bin","bounding_boxes":[{"center":{"x":6.16342997344417,"y":-6.391535886078613},"width":2.4396005107345684,"length":4.91801818546939,"angle":0.2820810931875299,"object_id":"van"},{"center":{"x":6.019652140419982,"y":-4.735236306907059},"width":0.3952102175884226,"length":0.7261973706323921,"angle":-0.20180572244806197,"object_id":"pedestrian"},{"center":{"x":6.136092683610647,"y":-3.1095765162714883},"width":0.3565482256884173,"length":0.6060503945996675,"angle":-0.18949509182143506,"object_id":"pedestrian"},{"center":{"x":9.98383575339738,"y":-4.167698874697697},"width":2.3498119706861105,"length":6.310516293975035,"angle":0.2699806185244194,"object_id":"truck"},{"center":{"x":12.744565545977103,"y":-1.5492063976101522},"width":2.0001562226692786,"length":4.227912403994858,"angle":0.36324665057704414,"object_id":"car"},{"center":{"x":1.4670845884381434,"y":6.382097195960105},"width":1.967556393628146,"length":3.5991894543640077,"angle":-1.3400856157763148,"object_id":"car"},{"center":{"x":3.813232866386918,"y":12.26311095092167},"width":0.6641623592094522,"length":0.9686838935943312,"angle":-1.3400856157772818,"object_id":"cyclist"},{"center":{"x":-9.90391620552554,"y":-2.8511582046032893},"width":1.7119368402677189,"length":3.801834742324638,"angle":-0.39760781971335357,"object_id":"car"},{"center":{"x":1.059268648654419,"y":-7.584838002503298},"width":0.710024767605872,"length":0.41950236762942106,"angle":0.978281775849136,"object_id":"cyclist"},{"center":{"x":-13.92928859691219,"y":-0.9725569462376675},"width":1.66636004377419,"length":3.7030222021833366,"angle":0.2650718807354017,"object_id":"car"},{"center":{"x":-13.964883978401362,"y":1.357635222572813},"width":0.6691570127301808,"length":1.3038645770313695,"angle":0.328885481526922,"object_id":"cyclist"},{"center":{"x":-20.395492819565682,"y":0.8410644356487809},"width":1.5951837130569817,"length":2.518182581384921,"angle":0.25525440305905517,"object_id":"car"},{"center":{"x":-15.377975808105337,"y":7.8321667538501405},"width":1.7633351524714211,"length":4.1230921272610015,"angle":0.19144080211491168,"object_id":"car"},{"center":{"x":-20.441153915891178,"y":9.019669083435735},"width":1.7763000708881858,"length":3.8378450644141306,"angle":0.23561944868269769,"object_id":"car"},{"center":{"x":-38.30680409234046,"y":9.134109240108664},"width":1.804795802648039,"length":2.500373695069262,"angle":0.2996239783024179,"object_id":"car"},{"center":{"x":1.2656704602399653,"y":23.601046808516756},"width":1.735139642771734,"length":3.4422892479821425,"angle":1.8407769451517386,"object_id":"car"}],"time_elapsed":436.892,"_3D_time_elapsed":181.385,"camera_angle":0.4957825903174113}]}
\ No newline at end of file
evaluations/test (5).json 0 → 100644
View file @ b5af198a
{"frames":[{"add_box_count":5,"resize_count":0,"translate_count":0,"rotate_count":0,"delete_count":1,"label_count":0,"rotate_camera_count":3,"filename":"0000000013.bin","bounding_boxes":[{"center":{"x":-1.562853133105064,"y":-4.328384211140822},"width":2.184256763115773,"length":5.6980611481606545,"angle":-0.07329272362560003,"object_id":"car"},{"center":{"x":-10.960105762858682,"y":-3.113902778083207},"width":2.9439973132348776,"length":3.3713508928560127,"angle":-0.07329272362560003,"object_id":"car"},{"center":{"x":-23.76114260354943,"y":-2.5540421594772607},"width":3.8461888698356623,"length":7.4549588347881945,"angle":-0.07329272361707452,"object_id":"car"},{"center":{"x":-45.35954647797053,"y":1.2114989547822739},"width":7.680221614151781,"length":11.10292935578178,"angle":-0.07329272363181123,"object_id":"car"}],"time_elapsed":117.887,"_3D_time_elapsed":107.673,"camera_angle":-0.07329272363181123},{"add_box_count":4,"resize_count":8,"translate_count":4,"rotate_count":6,"delete_count":2,"label_count":0,"rotate_camera_count":10,"filename":"0000000023.bin","bounding_boxes":[{"center":{"x":-11.57794882804814,"y":-2.5044272153106695},"width":3.9836156761141304,"length":2.1271726054704256,"angle":0.06662974872253191,"object_id":"car"},{"center":{"x":-16.83186842361401,"y":-2.7845783366426646},"width":1.4156424821615736,"length":4.158165114535006,"angle":-0.008422981178866456,"object_id":"car"}],"time_elapsed":97.297,"_3D_time_elapsed":0.273,"camera_angle":0.03331487453924462},{"add_box_count":11,"resize_count":1,"translate_count":0,"rotate_count":1,"delete_count":0,"label_count":0,"rotate_camera_count":18,"filename":"0000000049.bin","bounding_boxes":[{"center":{"x":7.300066081587859,"y":2.7142224902859944},"width":2.120400137626055,"length":4.957154474892697,"angle":0.09836516897614404,"object_id":"car"},{"center":{"x":5.329547322554293,"y":-2.4886559477298733},"width":1.4249009340548624,"length":3.5011865409750893,"angle":-0.006662974875054406,"object_id":"car"},{"center":{"x":1.4249011192847605,"y":5.2721360654177385},"width":1.9541490804639166,"length":3.7047431031864924,"angle":1.4658413371996684e-16,"object_id":"car"},{"center":{"x":-8.439853963506295,"y":5.536171615170057},"width":1.7913025279492265,"length":4.2747025761799,"angle":-0.0466408241242968,"object_id":"car"},{"center":{"x":-16.4493941367389,"y":5.121571884121335},"width":1.8727251299284238,"length":3.5418954567762606,"angle":-0.04664082413148864,"object_id":"car"},{"center":{"x":-21.522896927313358,"y":5.108923697228071},"width":1.9134362524550859,"length":3.6640287250744303,"angle":-0.04664082413474507,"object_id":"car"},{"center":{"x":-12.159621294021175,"y":-2.52369080683983},"width":1.9948605593486912,"length":3.989722360026001,"angle":-0.0466408241380015,"object_id":"car"},{"center":{"x":-37.61361372219238,"y":4.955223795230879},"width":2.1045445469468422,"length":4.762919441203255,"angle":-0.04664082414060742,"object_id":"car"},{"center":{"x":23.336164365489303,"y":-2.554879652689359},"width":1.9023464327073931,"length":3.6205958890986274,"angle":0.13992247234253058,"object_id":"car"},{"center":{"x":26.21904381400075,"y":4.422100546909908},"width":2.516006318922516,"length":4.418354991285343,"angle":0.09328164821801341,"object_id":"car"},{"center":{"x":28.28835337082301,"y":-3.9146370097368677},"width":2.454641203740642,"length":3.8660606498076047,"angle":0.33981171863800513,"object_id":"car"}],"time_elapsed":86.009,"_3D_time_elapsed":0,"camera_angle":0.33981171863800513}]}
\ No newline at end of file
evaluations/test.json 0 → 100644
View file @ b5af198a
This diff is collapsed.
index.html
View file @ b5af198a
<!DOCTYPE html>
<html lang="en">
<head>
<title>Lidar Annotator</title>
<title>LiDAR Annotator</title>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<link href="http://maxcdn.bootstrapcdn.com/font-awesome/4.6.0/css/font-awesome.min.css" rel="stylesheet">
......@@ -12,17 +12,19 @@
<body>
<nav class="tools">
<ul id="tools">
<!-- Commented out file input and export for evaluation -->
<li>
<input type="file" id="file_input" class="inputfile">
<input type="file" id="file_input" class="inputfile" multiple>
</li>
<li><a href="#" id="save"><i class="fa fa-floppy-o"></i></a></li>
<!-- <li><a href="#" id="save"><i class="fa fa-floppy-o"></i></a></li> -->
<li><a href="#" id="next_frame"><i class="fas fa-caret-square-right">Next Frame</i></a></li>
<li><a href="#" class="selected" id="move"><i class="fa material-icons">3d_rotation</i></a></li>
<li><a href="#" id="move2D"><i class="fa fa-arrows"></i></a></li>
<!-- <li><a href="#" id="ids"><i class="fa fa-pencil"></i></a></li> -->
<li>
<button type='button' id='record' style="display: none;">Click to pause recording</button>
<button type='button' id='record' style="display: none;">Click to start recording</button>
<li>
<div>
<table id="object-table">
......@@ -48,9 +50,10 @@
<div id="container"></div>
<div id="info">LiDAR Annotator</div>
<div id="footer"><p></p></div>
<div id="info">Lidar Annotator</div>
<script src="js/libs/three.min.js"></script>
<script src="js/libs/OrbitControls.js"></script>
......@@ -60,34 +63,14 @@
<script src="js/libs/dat.gui.min.js"></script>
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.3.1/jquery.min.js"></script>
<script src="js/utils.js"></script>
<script src="js/ObjectTable.js"></script>
<script src="js/Box.js?nocache"></script>
<script src="js/Evaluation.js?nocache"></script>
<script src="js/Evaluator.js?nocache"></script>
<script src="js/main.js?nocache"></script>
<script type="x-shader/x-vertex" id="vertexshader">
<!-- attribute float size;
attribute vec3 customColor;
varying vec3 vColor;
void main() {
vColor = customColor;
vec4 mvPosition = modelViewMatrix * vec4( position, 1.0 );
gl_PointSize = size * ( 300.0 / -mvPosition.z );
gl_Position = projectionMatrix * mvPosition;
}
</script>
<script type="x-shader/x-fragment" id="fragmentshader">
uniform vec3 color;
uniform sampler2D texture;
varying vec3 vColor;
void main() {
gl_FragColor = vec4( color * vColor, 1.0 );
gl_FragColor = gl_FragColor * texture2D( texture, gl_PointCoord );
if ( gl_FragColor.a < ALPHATEST ) discard;
}
</script>
</body>
</html>
\ No newline at end of file
js/Evaluator.js
View file @ b5af198a
......@@ -98,6 +98,9 @@ function OutputEvaluator(eval) {
this.rotate_camera_count = eval.rotate_camera_count;
this.filename = eval.filename;
this.bounding_boxes = [];
this.time_elapsed = eval.get_time_elapsed();
this._3D_time_elapsed = eval.get_3D_time_elapsed();
for (var i = 0; i < eval.bounding_boxes.length; i++) {
this.bounding_boxes.push(eval.bounding_boxes[i].output());
}
......
js/ObjectTable.js
View file @ b5af198a
......@@ -22,9 +22,21 @@ $("#object-table").on('mousedown', 'tbody tr', function() {
var box = getBoxById(boxId);
selectRow(boxId);
box.select(null);
selectedBox = null;
selectedBox = box;
var center = box.get_center();
// console.log(center);
// camera.position.set(center.x, 100, center.y);
// camera.updateProjectionMatrix();
// controls.update();
// console.log(camera.position);
// camera.lookAt(new THREE.Vector3(center.x,0,center.y));
// controls.update();
});
// handler that saves input when input is changed
$("#object-table").on('change', 'tbody tr', updateObjectId);
......
js/box.js
View file @ b5af198a
function Box(anchor, cursor, angle, boundingBox, boxHelper) {
this.id = id; // id (int) of Box
this.object_id = 'car'; // object id (string)
this.color = new THREE.Color( 1,0,0 ); // color of corner points
this.color = hover_color.clone(); // color of corner points
this.angle = angle; // orientation of bounding box
this.anchor = anchor; // point where bounding box was created
this.cursor = cursor.clone(); // cursor
......@@ -30,6 +30,10 @@ function Box(anchor, cursor, angle, boundingBox, boxHelper) {
this.geometry.vertices.push(cursor.clone());
this.geometry.vertices.push(getCenter(anchor.clone(), cursor.clone()));
this.get_center = function() {
var center3D = getCenter(this.geometry.vertices[0], this.geometry.vertices[1]);
return new THREE.Vector2(center3D.x, center3D.z);
}
// method for resizing bounding box given cursor coordinates
//
......@@ -166,7 +170,8 @@ function Box(anchor, cursor, angle, boundingBox, boxHelper) {
selectedBox.cursor = cursor;
}
updateHoverBoxes(cursor);
this.changeBoundingBoxColor(new THREE.Color( 0,0,7 ) );
// this.changeBoundingBoxColor(new THREE.Color( 0,0,7 ) );
this.changeBoundingBoxColor(selected_color);
}
......@@ -187,6 +192,11 @@ function Box(anchor, cursor, angle, boundingBox, boxHelper) {
this.output = function() {
return new OutputBox(this);
}
this.get_cursor_distance_threshold = function() {
return Math.min(distance2D(this.geometry.vertices[0], this.geometry.vertices[2]),
distance2D(this.geometry.vertices[0], this.geometry.vertices[1])) / 4;
}
}
......@@ -253,19 +263,22 @@ function highlightCorners() {
// if there was a previously hovered box, change its color back to red
if (hoverBox) {
hoverBox.changePointColor(hoverIdx, new THREE.Color(7, 0, 0));
// hoverBox.changePointColor(hoverIdx, new THREE.Color(7, 0, 0));
hoverBox.changePointColor(hoverIdx, hover_color.clone());
}
// update hover box
hoverBox = box;
hoverIdx = closestIdx;
hoverBox.changePointColor(hoverIdx, new THREE.Color(0, 0, 7));
// hoverBox.changePointColor(hoverIdx, new THREE.Color(0, 0, 7));
hoverBox.changePointColor(hoverIdx, selected_color.clone());
} else {
// change color of previously hovered box back to red
if (hoverBox) {
hoverBox.changePointColor(hoverIdx, new THREE.Color(7, 0, 0));
// hoverBox.changePointColor(hoverIdx, new THREE.Color(7, 0, 0));
hoverBox.changePointColor(hoverIdx, hover_color.clone());
}
// set hover box to null since there is no intersection
......
js/main.js
View file @ b5af198a
......@@ -31,7 +31,6 @@ var boxmaterial = new THREE.MeshDepthMaterial( {opacity: .1} );
var move2D = false;
var selectedBox;
var angle;
var distanceThreshold = 1;
var hoverIdx;
var hoverBox;
var resizeBox;
......@@ -52,13 +51,16 @@ init();
var id = 0;
// animate();
var mean, sd, filteredIntensities, min, max, intensities, colors;
var selected_color = new THREE.Color(0, 0, 1);
var hover_color = new THREE.Color(1, 0, 0);
var default_color = new THREE.Color(0xffff00);
function normalizeColors(vertices, color) {
var maxColor = Number.NEGATIVE_INFINITY;
var minColor = Number.POSITIVE_INFINITY;
var intensities = [];
var colors = [];
intensities = [];
colors = [];
k = 0;
var stride = 4;
......@@ -75,11 +77,11 @@ function normalizeColors(vertices, color) {
k++;
}
var mean = calculateMean(intensities);
var sd = standardDeviation(intensities);
var filteredIntensities = filter(intensities, mean, 2 * sd);
var min = getMinElement(filteredIntensities);
var max = getMaxElement(filteredIntensities);
mean = calculateMean(intensities);
sd = standardDeviation(intensities);
filteredIntensities = filter(intensities, mean, 1 * sd);
min = getMinElement(filteredIntensities);
max = getMaxElement(filteredIntensities);
// normalize colors
// if greater than 2 sd from mean, set to max color
......@@ -94,7 +96,12 @@ function normalizeColors(vertices, color) {
} else {
intensity = (intensities[i] - min) / (max - min);
}
colors[i] = ( color.clone().multiplyScalar( intensity * 2 ) );
// colors[i] = ( color.clone().multiplyScalar( intensity * 2 ) );
colors[i] = ( new THREE.Color( intensity, 0, 1 - intensity).multiplyScalar(intensity * 5));
// if (colors[i].b > colors[i].r) {
// colors[i] = colors[i].multiplyScalar(0);
// }
}
return colors;
}
......@@ -185,6 +192,7 @@ function init() {
function next_frame(event) {
if (evaluation.is_done()) {
alert("You have completed the evaluation! Thank you for participating!");
evaluator.pause_recording();
evaluation.add_evaluator(evaluator);
evaluation.write_output();
return;
......@@ -199,7 +207,7 @@ function next_frame(event) {
reset();
data = evaluation.get_data();
show();
animate();
// animate();
if (isRecording) {
toggleRecord(event);
......@@ -337,8 +345,8 @@ function onDocumentMouseMove( event ) {
} else if (isMoving) {
selectedBox.translate(cursor);
selectedBox.changeBoundingBoxColor(new THREE.Color( 0,0,7 ));
// selectedBox.changeBoundingBoxColor(new THREE.Color( 0,0,7 ));
selectedBox.changeBoundingBoxColor(selected_color.clone());
} else {
// if we are initoally drawing a new bounding box,
......@@ -383,7 +391,7 @@ function updateHoverBoxes(v) {
// checks if box is selectedBox, if so changes color back to default
if (box != selectedBox) {
box.changeBoundingBoxColor(0xffff00);
box.changeBoundingBoxColor(default_color.clone());
}
}
......@@ -391,7 +399,8 @@ function updateHoverBoxes(v) {
if (hoverBoxes.length == 1) {
var box = hoverBoxes[0];
if (box != selectedBox) {
box.changeBoundingBoxColor(new THREE.Color( 7,0,0 ) );
// box.changeBoundingBoxColor(new THREE.Color( 7,0,0 ) );
box.changeBoundingBoxColor(hover_color.clone());
}
}
}
......@@ -532,7 +541,7 @@ function updateFooter(pos) {
var x = pos.z;
var y = pos.x;
$("#footer").find("p").text("x: " + x + ", y: " + y);
$("#footer").find("p").text("x: " + x + "\ny: " + y);
}
function show() {
......@@ -620,10 +629,20 @@ function move2DMode( event ) {
}
function projectOntoXZ() {
var count = 0;
for (var i = 0; i < pointcloud.geometry.vertices.length; i++) {
var v = pointcloud.geometry.vertices[i];
v.y = 0;
if (colors[i].b > colors[i].r) {
count += 1;
v.y = -0.000001;
} else {
v.y = 0;
}
// v.y = 0;
}
console.log(count);
pointcloud.geometry.verticesNeedUpdate = true;
}
......@@ -644,7 +663,7 @@ var SettingsControls = function() {
var gui = new dat.GUI();
var settingsControls = new SettingsControls();
var settingsFolder = gui.addFolder('settings');
settingsFolder.add(settingsControls, 'size').min(0.0).max(1.0).step(0.05).onChange(function() {
var size_slider = settingsFolder.add(settingsControls, 'size').min(0.0).max(1.0).step(0.05).onChange(function() {
pointcloud.material.size = settingsControls.size * maxSize;
pointMaterial.size = 4 * settingsControls.size * maxSize;
});
......@@ -655,7 +674,8 @@ function reset() {
// if (grid) {
// scene.remove(grid);
// scene.remove(pointcloud);
// }
//
if (boundingBoxes) {
for (var i = 0; i < boundingBoxes.length; i++) {
box = boundingBoxes[i];
......@@ -667,7 +687,6 @@ function reset() {
yCoords = null;
yCoords = [];
}
evaluator = new Evaluator(camera.rotation.z, boundingBoxes, evaluation.get_filename());
}
......
js/utils.js
View file @ b5af198a
......@@ -155,7 +155,7 @@ function getIntersection(b) {
var closestCorner = null;
for (var i = 0; i < b.geometry.vertices.length; i++) {
if (distance2D(pos, b.geometry.vertices[i]) < shortestDistance &&
distance2D(pos, b.geometry.vertices[i]) < distanceThreshold) {
distance2D(pos, b.geometry.vertices[i]) < b.get_cursor_distance_threshold()) {
shortestDistance = distance2D(pos, b.geometry.vertices[i]);
closestCorner = b.geometry.vertices[i];
}
......
parser/.ipynb_checkpoints/parser-checkpoint.ipynb 0 → 100644
View file @ b5af198a
This diff is collapsed.
parser/parser.ipynb 0 → 100644
View file @ b5af198a
This diff is collapsed.
parser/parser.py 0 → 100644
View file @ b5af198a
import xml.etree.ElementTree as ET
e = ET.parse('/Users/berniewang/annotator/lidarAnnotator/test/' \
'velodyne_points/tracklet_labels/' \
'tracklet_labels_13.xml').getroot()
for child in e:
print(child.tag, child.attrib)
\ No newline at end of file
styles/style.css
View file @ b5af198a
* {
font-family: 'Open Sans';
font-family: 'Arial';
}
body {
color: #ffffff;
......@@ -77,40 +77,19 @@ nav li + li {
border-top:1px solid #444;
}
/*.inputfile {
width: 0.1px;
height: 0.1px;
opacity: 0;
overflow: hidden;
position: absolute;
z-index: -1;
#footer {
font-size: 12px;
position: fixed;
right: 10px;
bottom: 0;
width: 120px;
text-align: left;
}
.inputfile + label {
font-size: 1.25em;
font-weight: 700;
color: white;
background-color: black;
display: inline-block;
#footer p {
size: 50%;
}
.inputfile:focus + label,
.inputfile + label:hover {
background-color: red;
}*/
/*.upload {
display: inline-flex;
align-items: center;
}
i.fa-upload {
margin: 10px;
cursor: pointer;
font-size: 30px;
}
i:hover {
opacity: 0.6;
}
input {
display: none;
}*/
\ No newline at end of file
.id:hover {
color: blue;
}
\ No newline at end of file
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