def build(sampler_config):
cfg = sampler_config
groups = list(cfg.sample_groups)
prepors = [
preprocess_builder.build_db_preprocess(c)
for c in cfg.database_prep_steps
]
db_prepor = DataBasePreprocessor(prepors)
rate = cfg.rate
grot_range = cfg.global_random_rotation_range_per_object # [0, 0]
groups = [dict(g.name_to_max_num) for g in groups]
info_path = cfg.database_info_path
with open(info_path, 'rb') as f:
db_infos = pickle.load(f) # dict
# db_infos.keys()
# Out[10]: dict_keys(['Pedestrian', 'Car', 'Cyclist', 'Van', 'Truck', 'Tram', 'Misc', 'Person_sitting'])
# db_infos["Car"] is a list of dict
# len(db_infos["Car"])
# Out[11]: 14357
# db_infos["Car"][0]
# Out[12]:
# {'name': 'Car',
# 'path': 'gt_database/3_Car_0.bin', # gt_database is cropped point cloud for target object
# 'image_idx': 3,
# 'gt_idx': 0,
# 'box3d_lidar': array([13.51070263, -0.98177998, -0.9094899, 1.73000002, 4.1500001,
# 1.57000005, 1.62]),
# 'num_points_in_gt': 674,
# 'difficulty': 0,
# 'group_id': 1}
grot_range = list(grot_range)
if len(grot_range) == 0:
grot_range = None
sampler = DataBaseSamplerV2(db_infos, groups, db_prepor, rate, grot_range)
return sampler
def build(sampler_config):
cfg = sampler_config
groups = list(cfg.sample_groups)
prepors = [
preprocess_builder.build_db_preprocess(c)
for c in cfg.database_prep_steps # 两种预处理方式依次使用
]
db_prepor = DataBasePreprocessor(prepors)
rate = cfg.rate # 1.0
grot_range = cfg.global_random_rotation_range_per_object # 每个目标全局随机旋转的角度
groups = [dict(g.name_to_max_num) for g in groups] #
info_path = cfg.database_info_path
with open(info_path, 'rb') as f:
db_infos = pickle.load(f)
grot_range = list(grot_range)
if len(grot_range) == 0:
grot_range = None
sampler = DataBaseSamplerV2(db_infos, groups, db_prepor, rate, grot_range)
return sampler
def build(sampler_config):
cfg = sampler_config
groups = list(cfg.sample_groups)
prepors = [
preprocess_builder.build_db_preprocess(c)
for c in cfg.database_prep_steps
]
db_prepor = DataBasePreprocessor(prepors)
rate = cfg.rate
grot_range = cfg.global_random_rotation_range_per_object
groups = [dict(g.name_to_max_num) for g in groups]
info_path = cfg.database_info_path #'/home/lichao/v1.0-mini/kitti_dbinfos_train.pkl'
with open(info_path, 'rb') as f:
db_infos = pickle.load(f)
grot_range = list(grot_range)
if len(grot_range) == 0:
grot_range = None
sampler = DataBaseSamplerV2(db_infos, groups, db_prepor, rate, grot_range) #group:car
return sampler
def dbsampler_builder_build(sampler_config):
cfg = sampler_config
groups = list(cfg.sample_groups)
prepors = [
preprocess_builder.build_db_preprocess(c)
for c in cfg.database_prep_steps
]
db_prepor = DataBasePreprocessor(prepors)
rate = cfg.rate
grot_range = cfg.global_random_rotation_range_per_object
groups = [dict(g.name_to_max_num) for g in groups]
info_path = cfg.database_info_path
with open(info_path, 'rb') as f:
db_infos = pickle.load(f)
grot_range = list(grot_range)
if len(grot_range) == 0:
grot_range = None
sampler_dict = {
"DataBaseSamplerV2": DataBaseSamplerV2,
"DataBaseSamplerV3": DataBaseSamplerV3,
}
sample_class = sampler_dict[cfg.database_sampler_name]
sampler = sample_class(db_infos, groups, db_prepor, rate, grot_range)
return sampler