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Dreycey
reviewed
Feb 24, 2026
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| N_COMMON = 13 | ||
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| COMMON_LABELS = { |
Collaborator
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@donceykong
So are we trying to use common labels between all of the datasets? Like some intermediate transformation?
Dreycey
reviewed
Feb 24, 2026
| "kitti360": "cenet_kitti360", | ||
| } | ||
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| KITTI360_ORIGIN_LATLON = (48.9843445, 8.4295857) |
Collaborator
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Shouldn't this just come from the config file?
Dreycey
reviewed
Feb 24, 2026
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| _SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__)) | ||
| OSMBKI_ROOT = os.path.abspath(os.path.join(_SCRIPT_DIR, "..", "..", "..")) |
Collaborator
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We should avoid hard-coding paths like this at all costs
Dreycey
reviewed
Feb 24, 2026
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| # --------------------------------------------------------------------------- | ||
| # Mercator projection | ||
| # --------------------------------------------------------------------------- | ||
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| def lat_to_scale(lat_deg): | ||
| """Mercator scale factor at given latitude.""" | ||
| return math.cos(math.radians(lat_deg)) | ||
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| def latlon_to_mercator_absolute(lat_deg, lon_deg, scale): | ||
| """Convert lat/lon to Web Mercator x, y in meters.""" | ||
| lon_rad = math.radians(lon_deg) | ||
| lat_rad = math.radians(lat_deg) | ||
| x = scale * lon_rad * EARTH_RADIUS_M | ||
| y = scale * EARTH_RADIUS_M * math.log(math.tan(math.pi / 4 + lat_rad / 2)) | ||
| return x, y | ||
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| def latlon_to_mercator_relative(lat_deg, lon_deg, origin_lat, origin_lon): | ||
| """Convert lat/lon to meters relative to an origin point via Web Mercator.""" | ||
| scale = lat_to_scale(origin_lat) | ||
| ox, oy = latlon_to_mercator_absolute(origin_lat, origin_lon, scale) | ||
| mx, my = latlon_to_mercator_absolute(lat_deg, lon_deg, scale) | ||
| return mx - ox, my - oy | ||
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| def mercator_relative_to_latlon(rel_x, rel_y, origin_lat, origin_lon): | ||
| """Inverse of latlon_to_mercator_relative.""" | ||
| scale = lat_to_scale(origin_lat) | ||
| origin_lon_rad = math.radians(origin_lon) | ||
| origin_lat_rad = math.radians(origin_lat) | ||
| lon_rad = rel_x / (scale * EARTH_RADIUS_M) + origin_lon_rad | ||
| log_origin = math.log(math.tan(math.pi / 4 + origin_lat_rad / 2)) | ||
| lat_rad = 2.0 * math.atan(math.exp(rel_y / (scale * EARTH_RADIUS_M) + log_origin)) - math.pi / 2 | ||
| return math.degrees(lat_rad), math.degrees(lon_rad) | ||
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| # --------------------------------------------------------------------------- | ||
| # OSM geometry rendering | ||
| # --------------------------------------------------------------------------- | ||
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| def create_thick_lines(points, lines, color, radius=2.0): | ||
| """Build Open3D triangle mesh for line segments (cylinders).""" | ||
| meshes = [] | ||
| points = np.array(points, dtype=np.float64) | ||
| for line in lines: | ||
| start, end = points[line[0]], points[line[1]] | ||
| vec = end - start | ||
| length = np.linalg.norm(vec) | ||
| if length < 1e-6: | ||
| continue | ||
| cyl = o3d.geometry.TriangleMesh.create_cylinder(radius=radius, height=length, resolution=8) | ||
| cyl.paint_uniform_color(color) | ||
| z_axis = np.array([0.0, 0.0, 1.0]) | ||
| direction = vec / length | ||
| rot_axis = np.cross(z_axis, direction) | ||
| rot_angle = np.arccos(np.clip(np.dot(z_axis, direction), -1.0, 1.0)) | ||
| if np.linalg.norm(rot_axis) > 1e-6: | ||
| rot_axis = rot_axis / np.linalg.norm(rot_axis) | ||
| R_mat = o3d.geometry.get_rotation_matrix_from_axis_angle(rot_axis * rot_angle) | ||
| cyl.rotate(R_mat, center=[0, 0, 0]) | ||
| elif np.dot(z_axis, direction) < 0: | ||
| R_mat = o3d.geometry.get_rotation_matrix_from_axis_angle(np.array([1.0, 0.0, 0.0]) * np.pi) | ||
| cyl.rotate(R_mat, center=[0, 0, 0]) | ||
| cyl.translate((start + end) / 2) | ||
| meshes.append(cyl) | ||
| if not meshes: | ||
| return None | ||
| out = meshes[0] | ||
| for m in meshes[1:]: | ||
| out += m | ||
| return out | ||
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Collaborator
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Why not use the mercator projection provided in the CPP library and used in the other scripts?
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