def test_loading_image_lidar(data_loader: ArgoverseTrackingLoader) -> None:
camera = CAMERA_LIST[0]
log = "1"
image_1 = data_loader.get_image_at_timestamp(0, camera, log)
image_2 = data_loader.get_image_list_sync(camera, log, load=True)[0]
image_3 = data_loader.get_image(0, camera, log)
image_4 = data_loader.get_image_sync(0, camera, log)
assert np.array_equal(image_1, image_2) and np.array_equal(
image_1, image_3) and np.array_equal(image_1, image_4)
lidar_0 = data_loader.get_lidar(0, log)
lidar_gt = np.array([
[0.0, 0.0, 5.0],
[1.0, 0.0, 5.0],
[2.0, 0.0, 5.0],
[3.0, 0.0, 5.0],
[4.0, 0.0, 5.0],
[5.0, 0.0, 5.0],
[6.0, 0.0, 5.0],
[7.0, 0.0, 5.0],
[8.0, 0.0, 5.0],
[9.0, 0.0, 5.0],
])
assert np.array_equal(lidar_0, lidar_gt)
def extract_datapoints(root_dir, test_set=False):
argoverse_loader = ArgoverseTrackingLoader(root_dir=root_dir)
data = []
for log_id in argoverse_loader.log_list:
# print(f"Processing log: {os.path.join(root_dir, log_id)}", end="\r")
argoverse_data = argoverse_loader.get(log_id=log_id)
# calibL = argoverse_data.get_calibration(camera=camL, log_id=log_id)
# calibR = argoverse_data.get_calibration(camera=camR, log_id=log_id)
calibs = {}
for cam in STEREO_CAMERA_LIST + RING_CAMERA_LIST:
calibs[cam] = argoverse_data.get_calibration(camera=cam,
log_id=log_id)
count = 0
for lidar_timestamp in argoverse_data.lidar_timestamp_list:
data_point = dict()
data_point["log_id"] = log_id
data_point["frame_id"] = count
count += 1
for cam in STEREO_CAMERA_LIST + RING_CAMERA_LIST:
cam_timestamp = argoverse_loader.sync.get_closest_cam_channel_timestamp(
lidar_timestamp=lidar_timestamp,
camera_name=cam,
log_id=log_id)
if cam_timestamp is not None:
data_point[cam] = argoverse_loader.get_image_at_timestamp(
timestamp=cam_timestamp,
camera=cam,
log_id=log_id,
load=False)
else:
data_point[cam] = None
data_point["timestamp"] = lidar_timestamp
data_point["lidar"] = argoverse_loader.timestamp_lidar_dict[
lidar_timestamp]
data_point["calibs"] = calibs
d = argoverse_data.get_pose(
argoverse_data.get_idx_from_timestamp(
lidar_timestamp)).translation
r = Rotation.from_dcm(
argoverse_data.get_pose(
argoverse_data.get_idx_from_timestamp(
lidar_timestamp)).rotation)
data_point["pose"] = (d, r.as_euler('xyz'))
if not test_set:
data_point["labels"] = argoverse_loader.get_label_object(
idx=argoverse_loader.lidar_timestamp_list.index(
lidar_timestamp),
log_id=log_id)
data.append(data_point)
return data
