def read_ground_truth_annotations(self):
if True:
path = self.options.ground_truth_path
basepath, extension = os.path.splitext(path)
if extension == ".idl":
idl_data = open_idl_file(path)
self.ground_truth = idl_data_to_detections(idl_data)
elif extension == ".data_sequence":
self.ground_truth = list(open_data_sequence(path))
else:
raise Exception("Unknown filename extension '%s' in file %s" % \
(extension, path))
if False: # should be false, this offset is already compensated somewhere else
# we skip the first frame, since doppia code skip the first frames too
self.ground_truth = self.ground_truth[1:]
if self.stereo_rectification:
self.ground_truth = rectify_left_detections(self.stereo_rectification, self.ground_truth)
if self.options.adjust_width:
self.ground_truth = adjust_detections_width(self.ground_truth)
print("Read ground truth from", self.options.ground_truth_path)
else:
sys.path.append("../stixels_motion_evaluation")
from stixels_motion_evaluation import read_ground_truth
self.options.stereo_rectification = self.stereo_rectification
self.ground_truth = read_ground_truth(self.options)
# self.stereo_rectification = self.options.stereo_rectification
return
def read_data_sequences(self):
self.data_sequences = dict()
paths = []
paths += [os.path.join(path, "detections.data_sequence") for path in self.options.recordings_paths]
paths += self.options.detections_paths
for path in paths:
basename, extension = os.path.splitext(path)
path_pieces = os.path.normpath(os.path.abspath(basename)).split(os.sep)
if extension == ".data_sequence":
recording_name = path_pieces[-2] # the folder name
data_sequence = list(open_data_sequence(path))
elif extension == ".idl":
recording_name = path_pieces[-1] # the filename, without extension
idl_data = open_idl_file(path)
data_sequence = idl_data_to_detections(idl_data)
if True:
# we skip the first frame, since doppia code skip the first frames too
# if from idl, we assume it does not come from doppia code
data_sequence = data_sequence[1:]
if self.stereo_rectification: # if idl, we assume, undistorted, non rectified data
data_sequence = rectify_left_detections(self.stereo_rectification, data_sequence)
else:
raise Exception("Unknown filename extension '%s' in file %s" % \
(extension, path))
if self.options.adjust_width:
data_sequence = adjust_detections_width(data_sequence)
print("Read data for", recording_name)
self.data_sequences[recording_name] = data_sequence
return
sys.path.append("../stixels_evaluation")
sys.path.append("../helpers")
import pylab
#from detections_pb2 import Detections, Detection
#from data_sequence import DataSequence
from idl_parsing import open_idl_file
from idl_to_detections_sequence import idl_data_to_detections
dalal_idl_path = "/home/rodrigob/code/ethz_svn/projects/data/gt_and_idl/bahnhof/dalal-raw-undist.idl"
ground_truth_idl_path = "/home/rodrigob/data/bahnhof/annotations/bahnhof-annot.idl"
print("Reading data...")
idl_data = open_idl_file(dalal_idl_path)
dalal_detections = idl_data_to_detections(idl_data)
idl_data = open_idl_file(ground_truth_idl_path)
ground_truth_detections = idl_data_to_detections(idl_data)
print("Computing ...")
def compute_heights(detections_sequence):
heights = []
for detections in detections_sequence:
for detection in detections.detections:
bb = detection.bounding_box
height = bb.max_corner.y - bb.min_corner.y
heights.append(height)
return heights
dalal_heights = compute_heights(dalal_detections)
sys.path.append("../stixels_evaluation")
sys.path.append("../helpers")
import pylab
#from detections_pb2 import Detections, Detection
#from data_sequence import DataSequence
from idl_parsing import open_idl_file
from idl_to_detections_sequence import idl_data_to_detections
dalal_idl_path = "/home/rodrigob/code/ethz_svn/projects/data/gt_and_idl/bahnhof/dalal-raw-undist.idl"
ground_truth_idl_path = "/home/rodrigob/data/bahnhof/annotations/bahnhof-annot.idl"
print("Reading data...")
idl_data = open_idl_file(dalal_idl_path)
dalal_detections = idl_data_to_detections(idl_data)
idl_data = open_idl_file(ground_truth_idl_path)
ground_truth_detections = idl_data_to_detections(idl_data)
print("Computing ...")
def compute_heights(detections_sequence):
heights = []
for detections in detections_sequence:
for detection in detections.detections:
bb = detection.bounding_box
height = bb.max_corner.y - bb.min_corner.y
heights.append(height)
return heights
