def sequential_split_scans(laserscan_files: list, label_files: list,
output_path: str, overwrite: bool):
"""Process laserscan with proc_func and save the new laserscan in output_path
Args:
laserscan_files (list): List with the laserscans files to process.
label_files (list): List with the label files to process.
output_path (str): Path of the output directory.
overwrite (bool): If True, it will overwrite files at the output-path if they exist.
Returns:
proc_time (float): Time it took to process the laserscans.
saved_files (int): Number of successfully processed laserscans.
"""
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
saved_files = 0
start = time.time()
for laserscan_file, label_file in zip(laserscan_files, label_files):
fb_counter.count()
scan1, scan2, name = split_laserscan(laserscan_file, label_file)
num_saved_scans = save_split_scans(scan1, scan2, name, output_path,
overwrite)
saved_files += num_saved_scans
end = time.time()
proc_time = end - start
return proc_time, saved_files
def sequential_scale_rem_sequence(laserscan_files: list, label_files: list,
output_path: str, scale_func,
overwrite: bool):
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
saved_files = 0
start = time.time()
for laserscan_file, label_file in zip(laserscan_files, label_files):
fb_counter.count()
new_laserscan, name = scale_laserscan(laserscan_file, label_file,
scale_func)
fpt.save_scan(new_laserscan, name, output_path, overwrite)
saved_files += 1
end = time.time()
proc_time = end - start
return proc_time, saved_files
def count_classes_seq(label_files: list):
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
class_count = NumberDict()
for label_file in label_files:
fb_counter.count()
labels, _, num_labels = fpt.count_labels(label_file)
counts = [1] * len(labels)
class_count.add(labels, counts)
fb_counter.done()
return class_count
def count_weights_seq(label_files: list, label_learning_map: dict,
label_ignore_map: dict, label_weights: dict):
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
weight_count = {}
for label_file in label_files:
fb_counter.count()
weight = fpt.get_weight(label_file, label_learning_map,
label_ignore_map, label_weights)
weight_count[weight] = weight_count.get(weight, 0) + 1
fb_counter.done()
return weight_count
def sequential_sum_std_in_sequence(laserscan_files, mean_vector):
start = time.time()
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
scan_sums = []
for laserscan_file in laserscan_files:
fb_counter.count()
scan_sum = sum_std_values(laserscan_file, mean_vector)
scan_sums.append(scan_sum)
end = time.time()
proc_time = end - start
fb_counter.done()
scan_sums = np.concatenate(scan_sums, axis=0)
return scan_sums, proc_time
def sequential_calc_freq_seq(label_files):
start = time.time()
freq_dict = NumberDict()
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
total_num_labels = 0
for label_file in label_files:
fb_counter.count()
labels, counts, num_labels = fpt.count_labels(label_file)
total_num_labels += num_labels
freq_dict.add(labels, counts)
end = time.time()
proc_time = end - start
fb_counter.done()
return freq_dict, total_num_labels, proc_time
def sequential_downsample_sequence(laserscan_files: list, label_files: list,
output_path: str, overwrite: bool):
fb_counter = SequentialFeedbackCounter(SEQUENTIAL_FEEDBACK)
saved_files = 0
start = time.time()
for laserscan_file, label_file in zip(laserscan_files, label_files):
fb_counter.count()
dwns_laserscan, name = downsample_file(laserscan_file, label_file)
fpt.save_scan(dwns_laserscan, name, output_path, overwrite)
saved_files += 1
end = time.time()
fb_counter.done()
proc_time = end - start
return proc_time, saved_files
def get_pcd_list(file_dict: dict, cm: dict):
print("Collecting laserscans")
laserscans = []
if len(file_dict) > 1:
raise Exception("Can only draw one sequence at a time.")
sequence = list(file_dict.keys())[0]
files = file_dict[sequence]
laserfiles = files["laserscans"]
labelfiles = files["labels"]
fb_counter = SequentialFeedbackCounter(FEEDBACK_COUNT)
for laserfile, labelfile in zip(laserfiles, labelfiles):
fb_counter.count()
laserscan, _ = fpt.read_laserscan(laserfile, labelfile)
colors = lv.get_label_colors(laserscan, cm)
pcd = lv.convert_laserscan_2_open3d(laserscan, colors)
laserscans.append(pcd)
fb_counter.done()
return laserscans