def build_kitti_dataset(base_cfg,
use_defaults=True,
new_cfg=None,
use_custom_input=False) -> KittiDataset:
"""Builds a KittiDataset object using the provided configurations
Args:
base_cfg: a base dataset configuration
use_defaults: whether to use the default config values
new_cfg: (optional) a custom dataset configuration, no default
values will be used, all config values must be provided
Returns:
KittiDataset object
"""
cfg_copy = DatasetBuilder.copy_config(base_cfg)
if use_defaults:
# Use default values
text_format.Merge(DatasetBuilder.CONFIG_DEFAULTS_PROTO, cfg_copy)
if new_cfg:
# Use new config values if provided
cfg_copy.MergeFrom(new_cfg)
return KittiDataset(cfg_copy, use_custom_input)
def fill_feed_dict(dataset: KittiDataset, input_pl, batch_size):
sample = dataset.next_batch(batch_size)
bev_input = sample[0].get(constants.KEY_BEV_INPUT)
bev_input = np.expand_dims(bev_input, axis=0)
labels = sample[0].get(constants.KEY_LABEL_CLASSES)
labels = np.expand_dims(labels, axis=1)
label_pl = tf.placeholder(tf.float32, [None, 1])
feed_dict = {input_pl: bev_input, label_pl: labels}
return feed_dict, label_pl
def build_kitti_dataset(base_cfg,
use_defaults=True,
new_cfg=None) -> KittiDataset:
"""使用传入的配置参数构建一个KittiDataset类的对象
Args:
base_cfg: 一些基础的参数
use_defaults: 标志位，表示是否利用默认参数
new_cfg: 新的配置参数（所谓新的配置参数是指默认参数里没有的参数，所以这些参数必须提供相应的值，因为没默认值可用）
Returns:
KittiDataset类的对象
"""
cfg_copy = DatasetBuilder.copy_config(base_cfg)
if use_defaults:
# Use default values
text_format.Merge(DatasetBuilder.CONFIG_DEFAULTS_PROTO, cfg_copy)
if new_cfg:
# Use new config values if provided
cfg_copy.MergeFrom(new_cfg)
return KittiDataset(cfg_copy)