def read_data(self):
'''
read data
returns:
calib(CarlaCalib)
label(CarlaLabel)
pc(dict):
point cloud in Lidar <tag> frame.
pc[tag] = np.array [#pts, 3], tag is the name of the dir saving velodynes
'''
calib = WaymoCalib(self.calib_path).read_calib_file() if self.output_dict["calib"] else None
label = WaymoLabel(self.label_path).read_label_file() if self.output_dict["label"] else None
if self.output_dict["velodyne"]:
pc = dict()
for k, v in zip(self.velodyne_list, self.velodyne_paths):
assert k == v.split('/')[-2]
pc[k] = utils.read_pc_from_npy(v)
else:
pc = None
return pc, label, calib
def test_rot_obj(self):
pc = read_pc_from_npy("./unit-test/data/test_CarlaAugmentor_000250.npy")
calib = CarlaCalib("./unit-test/data/test_CarlaAugmentor_000250_calib.txt").read_calib_file()
label = CarlaLabel("./unit-test/data/test_CarlaAugmentor_000250_label_imu.txt").read_label_file()
pc = calib.lidar2imu(pc, key='Tr_imu_to_velo_top')
bevimg = BEVImage(x_range=(0, 70), y_range=(-40, 40), grid_size=(0.05, 0.05))
bevimg.from_lidar(pc, scale=1)
for obj in label.data:
bevimg.draw_box(obj, calib, bool_gt=True)
bevimg_img = Image.fromarray(bevimg.data)
bevimg_img.save(os.path.join('./unit-test/result/', 'test_CarlaAugmentor_rotobj_origin.png'))
carla_agmtor = CarlaAugmentor()
label, pc = carla_agmtor.rotate_obj(label, pc, calib, [-30/180.0 * np.pi, 30/180.0 * np.pi])
bevimg = BEVImage(x_range=(0, 70), y_range=(-40, 40), grid_size=(0.05, 0.05))
bevimg.from_lidar(pc, scale=1)
for obj in label.data:
bevimg.draw_box(obj, calib, bool_gt=True)
bevimg_img = Image.fromarray(bevimg.data)
bevimg_img.save(os.path.join('./unit-test/result/', 'test_CarlaAugmentor_rotobj_result.png'))
print(bcolors.WARNING + "Warning: TestCarlaAugmentor:test_rot_obj: You should check the function manully.:)"+ bcolors.ENDC)
print(bcolors.WARNING + os.path.join('Warning: TestCarlaAugmentor:test_rot_obj: ./unit-test/result/', 'test_CarlaAugmentor_rotobj_origin.png') + bcolors.ENDC)
print(bcolors.WARNING + os.path.join('Warning: TestCarlaAugmentor:test_rot_obj: ./unit-test/result/', 'test_CarlaAugmentor_rotobj_result.png') + bcolors.ENDC)