def fetch_data(frame_idx):
cam_rgb_points = dataset.get_cam_points_in_image_with_rgb(frame_idx,
config['downsample_by_voxel_size'])
box_label_list = dataset.get_label(frame_idx)
if 'crop_aug' in train_config:
cam_rgb_points, box_label_list = sampler.crop_aug(cam_rgb_points,
box_label_list,
sample_rate=train_config['crop_aug']['sample_rate'],
parser_kwargs=train_config['crop_aug']['parser_kwargs'])
cam_rgb_points, box_label_list = aug_fn(cam_rgb_points, box_label_list)
graph_generate_fn= get_graph_generate_fn(config['graph_gen_method'])
(vertex_coord_list, keypoint_indices_list, edges_list) = \
graph_generate_fn(cam_rgb_points.xyz, **config['graph_gen_kwargs'])
if config['input_features'] == 'irgb':
input_v = cam_rgb_points.attr
elif config['input_features'] == '0rgb':
input_v = np.hstack([np.zeros((cam_rgb_points.attr.shape[0], 1)),
cam_rgb_points.attr[:, 1:]])
elif config['input_features'] == '0000':
input_v = np.zeros_like(cam_rgb_points.attr)
elif config['input_features'] == 'i000':
input_v = np.hstack([cam_rgb_points.attr[:, [0]],
np.zeros((cam_rgb_points.attr.shape[0], 3))])
elif config['input_features'] == 'i':
input_v = cam_rgb_points.attr[:, [0]]
elif config['input_features'] == '0':
input_v = np.zeros((cam_rgb_points.attr.shape[0], 1))
last_layer_graph_level = config['model_kwargs'][
'layer_configs'][-1]['graph_level']
last_layer_points_xyz = vertex_coord_list[last_layer_graph_level+1]
if config['label_method'] == 'yaw':
cls_labels, boxes_3d, valid_boxes, label_map = \
dataset.assign_classaware_label_to_points(box_label_list,
last_layer_points_xyz,
expend_factor=train_config.get('expend_factor', (1.0, 1.0, 1.0)))
if config['label_method'] == 'Car':
cls_labels, boxes_3d, valid_boxes, label_map = \
dataset.assign_classaware_car_label_to_points(box_label_list,
last_layer_points_xyz,
expend_factor=train_config.get('expend_factor', (1.0, 1.0, 1.0)))
if config['label_method'] == 'Pedestrian_and_Cyclist':
(cls_labels, boxes_3d, valid_boxes, label_map) =\
dataset.assign_classaware_ped_and_cyc_label_to_points(
box_label_list, last_layer_points_xyz,
expend_factor=train_config.get('expend_factor', (1.0, 1.0, 1.0)))
encoded_boxes = box_encoding_fn(cls_labels, last_layer_points_xyz,
boxes_3d, label_map)
input_v = input_v.astype(np.float32)
vertex_coord_list = [p.astype(np.float32) for p in vertex_coord_list]
keypoint_indices_list = [e.astype(np.int32) for e in keypoint_indices_list]
edges_list = [e.astype(np.int32) for e in edges_list]
cls_labels = cls_labels.astype(np.int32)
encoded_boxes = encoded_boxes.astype(np.float32)
valid_boxes = valid_boxes.astype(np.float32)
return(input_v, vertex_coord_list, keypoint_indices_list, edges_list,
cls_labels, encoded_boxes, valid_boxes)
def fetch_data(frame_idx):
cam_points = dataset.get_cam_points_in_image(
frame_idx, config['downsample_by_voxel_size'])
box_label_list = dataset.get_label(frame_idx)
cam_points, box_label_list = aug_fn(cam_points, box_label_list)
graph_generate_fn = get_graph_generate_fn(config['graph_gen_method'])
(vertex_coord_list, keypoint_indices_list,
edges_list) = graph_generate_fn(cam_points.xyz,
**config['graph_gen_kwargs'])
input_v = cam_points.attr[:, [0]]
last_layer_graph_level = config['model_kwargs']['layer_configs'][-1][
'graph_level']
last_layer_points_xyz = vertex_coord_list[last_layer_graph_level + 1]
if config['label_method'] == 'yaw':
(cls_labels, boxes_3d, valid_boxes, label_map) =\
dataset.assign_classaware_label_to_points(box_label_list,
last_layer_points_xyz, expend_factor=(1.0, 1.0, 1.0))
if config['label_method'] == 'Car':
cls_labels, boxes_3d, valid_boxes, label_map =\
dataset.assign_classaware_car_label_to_points(box_label_list,
last_layer_points_xyz, expend_factor=(1.0, 1.0, 1.0))
if config['label_method'] == 'Pedestrian_and_Cyclist':
cls_labels, boxes_3d, valid_boxes, label_map =\
dataset.assign_classaware_ped_and_cyc_label_to_points(
box_label_list,
last_layer_points_xyz, expend_factor=(1.0, 1.0, 1.0))
encoded_boxes = box_encoding_fn(cls_labels, last_layer_points_xyz,
boxes_3d, label_map)
# reducing memory usage by casting to 32bits
input_v = input_v.astype(np.float32)
vertex_coord_list = [p.astype(np.float32) for p in vertex_coord_list]
keypoint_indices_list = [e.astype(np.int32) for e in keypoint_indices_list]
edges_list = [e.astype(np.int32) for e in edges_list]
cls_labels = cls_labels.astype(np.int32)
encoded_boxes = encoded_boxes.astype(np.float32)
valid_boxes = valid_boxes.astype(np.float32)
return (input_v, vertex_coord_list, keypoint_indices_list, edges_list,
cls_labels, encoded_boxes, valid_boxes)
start_time = time.time()
if VISUALIZATION_LEVEL == 2:
pcd = open3d.PointCloud()
line_set = open3d.LineSet()
graph_line_set = open3d.LineSet()
# provide input ======================================================
cam_rgb_points = dataset.get_cam_points_in_image_with_rgb(
frame_idx, config['downsample_by_voxel_size'])
calib = dataset.get_calib(frame_idx)
image = dataset.get_image(frame_idx)
if not IS_TEST:
box_label_list = dataset.get_label(frame_idx)
input_time = time.time()
time_dict['fetch input'] = time_dict.get('fetch input', 0) \
+ input_time - start_time
graph_generate_fn = get_graph_generate_fn(config['graph_gen_method'])
(vertex_coord_list, keypoint_indices_list, edges_list) = \
graph_generate_fn(
cam_rgb_points.xyz, **config['runtime_graph_gen_kwargs'])
graph_time = time.time()
time_dict['gen graph'] = time_dict.get('gen graph', 0) \
+ graph_time - input_time
if config['input_features'] == 'irgb':
input_v = cam_rgb_points.attr
elif config['input_features'] == '0rgb':
input_v = np.hstack([
np.zeros((cam_rgb_points.attr.shape[0], 1)),
cam_rgb_points.attr[:, 1:]
])
elif config['input_features'] == '0000':
input_v = np.zeros_like(cam_rgb_points.attr)