## Annotations
my_annotation = lyftdata.get('sample_annotation', my_sample['anns'][0])
my_box = lyftdata.get_box(my_annotation['token'])
lyftdata.render_annotation(my_annotation['token'], margin=10)
## Attributes
my_attribute1 = lyftdata.get('attribute', my_annotation['attribute_tokens'][0])
my_attribute2 = lyftdata.get('attribute', my_annotation['attribute_tokens'][1])
## Instances
my_instance = lyftdata.get('instance', my_annotation['instance_token'])
lyftdata.render_instance(my_instance['token'])
print("First annotated sample of this instance:")
lyftdata.render_annotation(my_instance['first_annotation_token'])
print("Last annotated sample of this instance")
lyftdata.render_annotation(my_instance['last_annotation_token'])
lyftdata.render_sample(token0)
## 3D visualization of a scene
## Be sure to make a folder named tmp in data_path
my_scene = lyftdata.get('scene', my_sample['scene_token'])
first_sample_token = my_scene['first_sample_token']
sample = lyftdata.get('sample', first_sample_token)
lidar_token = sample['data']['LIDAR_TOP']
filename = draw_3d_plot(0, lidar_token)
Image.open(filename)
import numpy as np
button = cfg.data.button
lyft_data = LyftDataset(data_path=cfg.data.lyft,
json_path=cfg.data.train_path,
verbose=False)
if button.LIST_SCENE: lyft_data.list_scenes()
if button.LIST_CATEG: lyft_data.list_categories()
one_scene = lyft_data.scene[0]
first_sample_token = one_scene["first_sample_token"]
end_sample_token = one_scene["last_sample_token"]
if button.REND_SAMPLE:
lyft_data.render_sample(first_sample_token, out_path="./data/01")
lyft_data.render_sample(end_sample_token, out_path="./data/02")
# Sample
sample = lyft_data.get('sample', first_sample_token)
# print("sample keys are, ", sample.keys())
print('list sample in the first sample token')
if button.LIST_SAMPLE: lyft_data.list_sample(sample['token'])
if button.REND_PC_IMG:
lyft_data.render_pointcloud_in_image(sample_token=sample["token"],
dot_size=1,
pointsensor_channel='LIDAR_TOP',
camera_channel='CAM_FRONT',
out_path="./data/03")
# Sample lidar in 3d
