def create_tracking_kitti_info(files: dict, index):
calib = parse_calib(read_lines(files['calib']))
label_lines = read_lines(files['label'])
selected_frame_lines = []
for line in label_lines:
parts = line.split(' ')
frame = int(parts[0])
if frame == index and parts[1] != '-1':
selected_frame_lines.append(' '.join(parts[2:]))
label = get_label_anno(selected_frame_lines)
result = {
'image_idx': index,
'velodyne_path': files['velodyne'][index],
'img_path': files['image'][index],
# 'img_shape': None,
'calib/P0': calib['P'][0],
'calib/P1': calib['P'][1],
'calib/P2': calib['P'][2],
'calib/P3': calib['P'][3],
'calib/R0_rect': calib['R0_rect'],
'calib/Tr_velo_to_cam': calib['Tr_velo_to_cam'],
'calib/Tr_imu_to_velo': calib['Tr_velo_to_cam'],
'annos': label
}
return result
def create_detection_kitti_info(files: dict, index):
calib = parse_calib(
read_lines(files['calib'])
)
label = get_label_anno(
read_lines(files['label'])
)
result = {
'image_idx': index,
'velodyne_path': files['velodyne'],
'img_path': files['image'],
# 'img_shape': None,
'calib/P0': calib['P'][0],
'calib/P1': calib['P'][1],
'calib/P2': calib['P'][2],
'calib/P3': calib['P'][3],
'calib/R0_rect': calib['R0_rect'],
'calib/Tr_velo_to_cam': calib['Tr_velo_to_cam'],
'calib/Tr_imu_to_velo': calib['Tr_velo_to_cam'],
'annos': label
}
return result
def get_compare_detection_annotation(method, index):
file_name = (compare_results_detection['root'] + '/' + method + '/' +
selected_split + '/' + '{:06d}'.format(index) + '.txt')
lines = []
if os.path.exists(file_name):
lines = read_lines(file_name)
label = get_label_anno(lines)
return label
def get_compare_tracking_annotation(method, group, index):
annotation_format = compare_results_tracking['format']
if annotation_format == "ab3dmot":
type_by_number = {1: 'Pedestrian', 2: 'Car', 3: 'Cyclist'}
file_name = (compare_results_tracking['root'] + '/' + method + '/' +
selected_split + '/' + '{:04d}'.format(group) + '.txt')
lines = []
if os.path.exists(file_name):
lines = read_lines(file_name)
selected_lines = []
for i in range(len(lines)):
line = lines[i]
elements = line.replace('\n', '').split(',')
if len(elements) <= 1:
continue
(id, t, a1, a2, a3, a4, b, c1, c2, c3, c4, c5, c6, alpha,
beta) = elements
new_elements = [
type_by_number[int(t)], 0, 0, beta, a1, a2, a3, a4, c1, c2,
c3, c4, c5, c6, alpha, b
]
new_line = " ".join([str(a) for a in new_elements])
current_index = int(id)
if index == current_index:
selected_lines.append(new_line)
lines = selected_lines
label = get_label_anno(lines)
return label
else:
raise ValueError("Unsupported tracking format: " + annotation_format)