def __init__(self, args=None, scale=1.0, linewidth=0.):
"""Initializer
Input:
scale: whether resize the image in case image is too large
linewidth: 0 indicates a binary mask, while > 0 indicates
using a frame.
"""
self.dataset = data.ApolloScape(args)
self._data_config = self.dataset.get_3d_car_config()
self.MAX_DEPTH = 1e4
self.MAX_INST_NUM = 100
h, w = self._data_config['image_size']
# must round prop to 4 due to renderer requirements
# this will change the original size a bit, we usually need rescale
# due to large image size
self.image_size = np.uint32(uts.round_prop_to(np.float32([h * scale, w * scale])))
self.scale = scale
self.linewidth = linewidth
self.colors = np.random.random((self.MAX_INST_NUM, 3)) * 255
self.car_counts = {}
def set_dataset(self, args):
self.dataset = data.ApolloScape(args)
self._data_config = self.dataset.get_3d_car_config()