def load_kitti(path, mode='train', image_dir=None, label_dir=None):
packets = []
with open(path + mode + '.txt', 'rb') as f:
file_list = [x.strip() for x in f.readlines()]
for file in file_list:
image_path = image_dir + file + '.png'
label_path = label_dir + file + '.txt'
with open(label_path) as f:
object_list = []
for line in f:
obj_class, truncated, occluded, alpha, bx1, by1, bx2, by2, dz, dy, dx, tx, ty, tz, rot_y = line.split(
)
if obj_class == 'Car': #and float(truncated) == 0: #and float(occluded) == 0 :
size = [float(x) for x in [dx, dy, dz]]
position = [float(x) for x in [tx, ty, tz]]
rot_y = float(rot_y)
top_left = (int(float(bx1)), int(float(by1)))
bottom_right = (int(float(bx2)), int(float(by2)))
obj = Object(obj_class,
top_left=top_left,
bottom_right=bottom_right)
obj.size = size
obj.position = position
object_list.append(obj)
if object_list != []:
packet = Packet(image_path, objects=object_list)
else:
continue
packets.append(packet)
return packets
