def kitti_data_prep(root_path, info_prefix, version, out_dir): """Prepare data related to Kitti dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth database. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info filenames. version (str): Dataset version. out_dir (str): Output directory of the groundtruth database info. """ kitti.create_kitti_info_file(root_path, info_prefix) kitti.create_reduced_point_cloud(root_path, info_prefix) info_train_path = osp.join(root_path, f'{info_prefix}_infos_train.pkl') info_val_path = osp.join(root_path, f'{info_prefix}_infos_val.pkl') info_trainval_path = osp.join(root_path, f'{info_prefix}_infos_trainval.pkl') info_test_path = osp.join(root_path, f'{info_prefix}_infos_test.pkl') kitti.export_2d_annotation(root_path, info_train_path) kitti.export_2d_annotation(root_path, info_val_path) kitti.export_2d_annotation(root_path, info_trainval_path) kitti.export_2d_annotation(root_path, info_test_path) create_groundtruth_database('KittiDataset', root_path, info_prefix, f'{out_dir}/{info_prefix}_infos_train.pkl', relative_path=False, mask_anno_path='instances_train.json', with_mask=(version == 'mask'))
def kitti_data_prep(root_path, info_prefix, version, out_dir): """Prepare data related to Kitti dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth database. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info filenames. version (str): Dataset version. out_dir (str): Output directory of the groundtruth database info. """ kitti.create_kitti_info_file(root_path, info_prefix) kitti.create_reduced_point_cloud(root_path, info_prefix) create_groundtruth_database( "KittiDataset", root_path, info_prefix, f"{out_dir}/{info_prefix}_infos_train.pkl", relative_path=False, mask_anno_path="instances_train.json", with_mask=(version == "mask"), )