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"),
)