def do_output(segmentPath, globalParams):
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
segmentOutputMinimalPath = os.path.join(globalParams.MINIMAL_OUTPUT_PATH,
segmentName)
segmentOutputFullPath = os.path.join(globalParams.BASE_OUTPUT_PATH,
segmentName)
if not os.path.exists(segmentOutputMinimalPath):
os.makedirs(segmentOutputMinimalPath, exist_ok=True)
# PAIRs of: (filename to copy, optional or not)
filesToCopyToOutputMin = [
(ReconstructionUtils.FILENAME_CARS_TRAJECTORIES, False),
(ReconstructionUtils.FILENAME_PEOPLE_TRAJECTORIES, False),
(ReconstructionUtils.FILENAME_CARLA_BBOXES, True),
(ReconstructionUtils.FILENAME_COMBINED_CARLA_ENV_POINTCLOUD, False),
(ReconstructionUtils.FILENAME_COMBINED_CARLA_ENV_POINTCLOUD_SEGCOLOR,
True), (ReconstructionUtils.FILENAME_CENTERING_ENV, False),
(ReconstructionUtils.FILENAME_CAMERA_INTRISICS, True)
]
for fileToCopy in filesToCopyToOutputMin:
optional = fileToCopy[1]
filename = fileToCopy[0]
srcFullFilePath = os.path.join(segmentOutputFullPath, filename)
dstFullFilePath = os.path.join(segmentOutputMinimalPath, filename)
if os.path.exists(srcFullFilePath) == False:
if optional == False:
assert False, (
f"Can't copy filename {filename} because it doesn't exists !"
)
else:
shutil.copyfile(srcFullFilePath, dstFullFilePath)
def do_3DReconstruction(segmentPath, globalParams):
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
folderOutput = os.path.join(globalParams.POINTCLOUD_OUTPUT_BASEFILEPATH,
segmentName)
class DatasetOptions:
def __init__(self):
self.dataAlreadyInWorldSpace = True
self.framesIndicesCaptured = list(
np.arange(int(globalParams.FRAMEINDEX_MIN),
int(globalParams.FRAMEINDEX_MAX) + 1)
) # TODO: fix number of frames correctly by reading metadata !
self.LIMIT_FRAME_NUMBER = globalParams.FRAMEINDEX_MAX
# How many frames modulo to skip for reconstruction (if needed
self.frameSkip = globalParams.FRAMES_SKIP
self.numInitialFramesToIgnore = (
globalParams.FRAMEINDEX_MIN - 1
) # How many frames in the beginning of the scene to ignore
options = DatasetOptions()
reconstruction, people_rec, cars_rec, scale, ped_dict, cars_2D, people_2D, valid_ids, cars_dict, init_frames, init_frames_cars, heroCarDetails = ReconstructionUtils.reconstruct3D_ply(
folderOutput,
local_scale_x=globalParams.SCALE_USED_IN_FINAL_RECONSTRUCTION,
recalculate=globalParams.FORCE_RECOMPUTE,
datasetOptions=options,
params=globalParams)
def runSegmentationOps(segmentPath, globalParams):
# Step 1: Do segmentation on all
# Define base segmentation modelBaseParams such as model and configs
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
#print(f"================= Segment {segmentName} ===============")
# Setup segmentation for this segment from dataset
segmentFiles_InputPath = os.path.join(globalParams.SEG_INPUT_IMAGES_BASEPATH, segmentName, globalParams.SEG_INPUT_IMAGES_RGBFOLDER)
segmentFiles_OutputPath = os.path.join(globalParams.SEG_OUTPUT_LABELS_BASEFILEPATH, segmentName, globalParams.SEG_OUTPUT_LABELS_SEGFOLDER)
segmentFiles_OutputCompPath = os.path.join(globalParams.SEG_OUTPUTCOMP_LABELS_BASEFILEPATH, segmentName, globalParams.SEG_OUTPUTCOMP_LABELS_RGBFOLDER)
modelParams = []
modelParams.extend(["--imgs", segmentFiles_InputPath])
modelParams.extend(["--resourcesFolderPath", globalParams.SEGMENTATION_SETUP_DATA_PATH])
if globalParams.USE_GPU_FOR_SEGMENTATION is not None:
modelParams.extend(["--gpu", str(globalParams.USE_GPU_FOR_SEGMENTATION)])
modelConfigPath = os.path.join(globalParams.SEGMENTATION_SETUP_DATA_PATH, "config/ade20k-resnet50dilated-ppm_deepsup.yaml")
modelParams.extend(["--cfg", modelConfigPath])
modelDirPath = os.path.join(globalParams.SEGMENTATION_SETUP_DATA_PATH, "ade20k-resnet50dilated-ppm_deepsup")
modelCheckPoint = "epoch_20.pth"
modelParams.extend(["DIR", modelDirPath])
modelParams.extend(["TEST.checkpoint", modelCheckPoint])
modelParams.extend(["TEST.result", segmentFiles_OutputPath])
modelParams.extend(["TEST.resultComp", segmentFiles_OutputCompPath])
modelParams.extend(["TEST.saveOnlyLabels", '1'])
modelParams.extend(["DATASET.scaleFactor", '2.0'])
# Create functors and run extraction
extractFunctor, decisionFunctor = defineLabelsExtractor(5, globalParams) # 5 images per frame expected
SemanticSegSupport.runTestSample(modelParams, extractFunctor, decisionFunctor, globalParams.FORCE_RECOMPUTE)
# The output of the above process are the pkl files labels_frameId, a dictionary indexed by camera id (starting from 0)
# where each entry contains the segmented labels for that picture in the original image space (height,width)
if len(outputDict) != 0:
print("Missing frames ", outputDict.keys())
assert False, (f"Incomplete sequence ! some frames are still there")
print(f"Summary of inference: numFrames: {numFramesExtracted}")
def do_RGBExtraction(segmentPath, globalParams):
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
assert os.path.exists(
segmentPath), f'The file you specified {segmentPath} doesn\'t exist !'
# 1. Iterate over frame by frame of a segment
dataset = tf.data.TFRecordDataset(segmentPath, compression_type='')
numFrames = 0
for index, data in enumerate(dataset):
numFrames += 1
print(f"Num frames in {segmentName}: ", numFrames)
allRGBImagesDict = {}
for index, data in enumerate(dataset):
if (globalParams.FRAMEINDEX_MIN > index) and (
index != 0): # We need first frame reference point !!:
continue
if globalParams.FRAMEINDEX_MAX < index:
break
if (index % pipeline_commons.FRAMESINFO_IMGS_DEBUG_RATE == 0):
pipeline_commons.globalLogger.info(
f"Parsing frame {index}/{numFrames}")
# Read the frame in bytes
frame = open_dataset.Frame()
frame.ParseFromString(bytearray(data.numpy()))
# Gather and decode all RGB images from this frame to the global store
segInputFolder = os.path.join(globalParams.SEG_INPUT_IMAGES_BASEPATH,
segmentName,
globalParams.SEG_INPUT_IMAGES_RGBFOLDER)
gatherImagesFromFrame(frame,
index,
allRGBImagesDict,
segInputFolder,
forceRecompute=globalParams.FORCE_RECOMPUTE)
saveImagesAsSegmentationInput(allRGBImagesDict, segInputFolder)
def __init__(self):
self.dataAlreadyInWorldSpace = True
self.framesIndicesCaptured = list(
np.arange(int(globalParams.FRAMEINDEX_MIN),
int(globalParams.FRAMEINDEX_MAX) + 1)
) # TODO: fix number of frames correctly by reading metadata !
self.LIMIT_FRAME_NUMBER = globalParams.FRAMEINDEX_MAX
# How many frames modulo to skip for reconstruction (if needed
self.frameSkip = globalParams.FRAMES_SKIP
self.numInitialFramesToIgnore = (
globalParams.FRAMEINDEX_MIN - 1
) # How many frames in the beginning of the scene to ignore
options = DatasetOptions()
reconstruction, people_rec, cars_rec, scale, ped_dict, cars_2D, people_2D, valid_ids, cars_dict, init_frames, init_frames_cars, heroCarDetails = ReconstructionUtils.reconstruct3D_ply(
folderOutput,
local_scale_x=globalParams.SCALE_USED_IN_FINAL_RECONSTRUCTION,
recalculate=globalParams.FORCE_RECOMPUTE,
datasetOptions=options,
params=globalParams)
if __name__ == "__main__":
import pipeline_params
pipeline_params.globalParams.FRAMEINDEX_MIN = 0
pipeline_params.globalParams.FRAMEINDEX_MAX = 5
segmentName = pipeline_commons.extractSegmentNameFromPath(
pipeline_params.FILENAME_SAMPLE[0])
do_3DReconstruction(segmentName, pipeline_params.globalParams)
def workFunc(workData):
allTasksInBatch = workData[0]
indicesForThisWorker = workData[1]
params = workData[2]
stagesToRun = workData[3]
id = workData[4]
globalLogger.info(
f"Id {id} got task to solve indices {indicesForThisWorker}")
forceRecompute = params.FORCE_RECOMPUTE
def writeCheckpoint(filenames: str, checkpointType: PipelineStages):
with open(filenames[checkpointType], "w") as outputCheckpointHandle:
#outputCheckpointHandle.write("")
pass
def hasCheckpoint(filenames: str, checkpointType: PipelineStages):
return os.path.exists(filenames[checkpointType])
for segment_index in indicesForThisWorker:
# print("Line {}: {}".format(cnt, segmentPath.strip()))
segmentPath = allTasksInBatch[segment_index]
globalLogger.info(
f"$$$$$$$$$$$$ Id {id} Processing segment index: {segment_index}, path: {segmentPath} $$$$$$$$$$$$"
)
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
outputCheckpointFilePrefix = os.path.join(
params.BASE_OUTPUT_PATH,
f"{COMPLETED_CHECKPOINT_PREFIXNAME}{segmentName}_")
outputCheckpointFileNames = {}
for item in PipelineStages:
outputCheckpointFileNames[item] = outputCheckpointFilePrefix + str(
item.name)
start_time = time.time()
if not isSegmentationTheOnlyStage(stagesToRun):
#print("Finding num frames for ", stagesToRun)
numFrames = pipeline_commons.getNumFramesInSegmentPath(segmentPath)
params.FRAMEINDEX_MAX = min(params.FRAMEINDEX_MAX, numFrames - 1)
params.FRAMEINDEX_MIN = max(0, params.FRAMEINDEX_MIN)
globalLogger.info(
f"Id {id} In segment index {segment_index} - There are {numFrames} frames. Starting the pipeline process between frames {pipeline_params.globalParams.FRAMEINDEX_MIN}-{pipeline_params.globalParams.FRAMEINDEX_MAX}, recompute: {pipeline_params.globalParams.FORCE_RECOMPUTE}"
)
else:
globalLogger.info(
f"Id {id} Starting the pipeline process between frames {pipeline_params.globalParams.FRAMEINDEX_MIN}-{pipeline_params.globalParams.FRAMEINDEX_MAX}, recompute: {pipeline_params.globalParams.FORCE_RECOMPUTE}"
)
hackEnabled = False
if hackEnabled:
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_RGB)
if PipelineStages.PIPELINE_RGB in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames, PipelineStages.PIPELINE_RGB):
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 1: RGB Image extraction")
pipeline_extractRGBImages.do_RGBExtraction(segmentPath, params)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_RGB)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 1: Already done !")
if PipelineStages.PIPELINE_SEMANTIC in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames,
PipelineStages.PIPELINE_SEMANTIC):
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 2: Segmentation")
pipeline_segmentation.runSegmentationOps(segmentPath, params)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_SEMANTIC)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 2: Already done !")
# time.sleep(10)
if PipelineStages.PIPELINE_EXTRACTION in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames,
PipelineStages.PIPELINE_EXTRACTION):
globalLogger.log(
logging.INFO,
f"Id {id} ##Stage 3: Peoples and vehicle trajectories extraction"
)
pipeline_extractPeopleAndCars.do_PeopleAndVehiclesExtraction(
segmentPath, params)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_EXTRACTION)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 3: Already done !")
if PipelineStages.PIPELINE_POINTCLOUD in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames,
PipelineStages.PIPELINE_POINTCLOUD):
globalLogger.log(
logging.INFO,
f"Id {id} ##Stage 4: Point cloud reconstruction. Part 1: for environment"
)
pipeline_pointCloudReconstruction.do_PointCloudReconstruction(
segmentPath, params, useEnvironmentPoints=True)
if params.POINT_CLOUD_FOR_MOTION_FRAMES:
globalLogger.log(
logging.INFO,
f"Id {id} ##Stage 4: Point cloud reconstruction. Part 2: for motion stuff"
)
pipeline_pointCloudReconstruction.do_PointCloudReconstruction(
segmentPath, params, useEnvironmentPoints=False)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_POINTCLOUD)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 4: Already done !")
if PipelineStages.PIPELINE_3DRECONSTRUCTION in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames,
PipelineStages.PIPELINE_3DRECONSTRUCTION):
globalLogger.log(
logging.INFO,
f"Id {id} ##Stage 5: 3D Scene reconstruction")
pipeline_3DReconstruction.do_3DReconstruction(
segmentPath, params)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_3DRECONSTRUCTION)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 5: Already done !")
if PipelineStages.PIPELINE_OUTPUT in stagesToRun:
if forceRecompute == True or not hasCheckpoint(
outputCheckpointFileNames, PipelineStages.PIPELINE_OUTPUT):
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 6: Copy files to output")
pipeline_outputProcessing.do_output(segmentPath, params)
writeCheckpoint(outputCheckpointFileNames,
PipelineStages.PIPELINE_OUTPUT)
else:
globalLogger.log(logging.INFO,
f"Id {id} ##Stage 6: Already done !")
end_time = time.time()
globalLogger.log(
logging.INFO,
f"Id {id} $$$ Processing of index {segment_index} finished, time spent {(end_time - start_time)}"
)
return 0
def do_PointCloudReconstruction(segmentPath,
globalParams,
useEnvironmentPoints=True):
setupGlobals(globalParams)
# These are the transformation from world frame to the reference vehicle frame (first pose of the vehicle in the world)
worldToReferencePointTransform = None
assert os.path.exists(segmentPath), (
f'The file you specified {segmentPath} doesn\'t exist !')
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
segmentedDataPath = os.path.join(
globalParams.SEG_OUTPUT_LABELS_BASEFILEPATH, segmentName,
globalParams.SEG_OUTPUT_LABELS_SEGFOLDER)
# Reset some things that shouldn't be persistent between episodes
global DEBUG_origSegLabel_Stats
DEBUG_origSegLabel_Stats = {}
# 1. Iterate over frame by frame of a segment
dataset = tf.data.TFRecordDataset(segmentPath, compression_type='')
for frameIndex, data in enumerate(dataset):
if frameIndex != 0: # We need first frame to get the camera reference point
if (
globalParams.FRAMEINDEX_MIN is not None
and frameIndex < globalParams.FRAMEINDEX_MIN
) and frameIndex != 0: # We need first frame reference point !!
continue
if globalParams.FRAMEINDEX_MAX is not None and frameIndex > globalParams.FRAMEINDEX_MAX:
break
# Check if the files already exists
folderOutput = os.path.join(
globalParams.POINTCLOUD_OUTPUT_BASEFILEPATH, segmentName)
outputFramePath_rgb = os.path.join(
folderOutput, ("{0:05d}.ply").format(frameIndex)
if useEnvironmentPoints == True else
("{0:05d}_motion.ply").format(frameIndex))
outputFramePath_seg = os.path.join(
folderOutput, ("{0:05d}_seg.ply").format(frameIndex)
if useEnvironmentPoints == True else
("{0:05d}_motionseg.ply").format(frameIndex))
outputFramePath_segColored = os.path.join(
folderOutput, ("{0:05d}_segColor.ply").format(frameIndex)
if useEnvironmentPoints == True else
("{0:05d}_motionsegColor.ply").format(frameIndex))
if frameIndex != 0 and globalParams.FORCE_RECOMPUTE == False and \
os.path.exists(outputFramePath_rgb) and \
os.path.exists(outputFramePath_seg) and \
os.path.exists(outputFramePath_segColored):
continue
if frameIndex % pipeline_commons.FRAMESINFO_IMGS_DEBUG_RATE == 0:
pipeline_commons.globalLogger.info(
f"Extracted point cloud for frames {frameIndex}/{globalParams.FRAMEINDEX_MAX}..."
)
# Step 1: Read the frame in bytes
# -------------------------------------------
frame = open_dataset.Frame()
frame.ParseFromString(bytearray(data.numpy()))
# All point cloud data is relative to the car with sensors attached
# We can transform to world positions using frame.pose.transform.
# But to get coordinates back to the reference frame - WHICH IS THE INITIAL POSITION OF THE CAR - we use the below inverse matrix
frame_thisPose = np.reshape(
np.array(frame.pose.transform).astype(np.float32), [4, 4])
if frameIndex == 0:
worldToReferencePointTransform = np.linalg.inv(frame_thisPose)
# -------------------------------------------
# Step 2: Process the frame and get the 3d lidar points and camera projected points from the frame, for each return
# -------------------------------------------
points_byreturn, cp_points_byreturn = getPointCloudPointsAndCameraProjections(
frame,
frame_thisPose,
worldToReferencePointTransform,
useEnvPoints=useEnvironmentPoints)
# -------------------------------------------
# Step 3: iterate over all point cloud data and camera projections and fill a dictionary with each 3D point data
# Here we gather all ply data in format: {(x,y,z) : [r g b label]], for all points in the point cloud.
# Why dictionary ? Because we might want to discretize from original space to a lower dimensional space so same x,y,z from original data might go into the same chunk
# -------------------------------------------
plyDataPoints = {}
# Read the RGB images and segmentation labels corresponding for this frame
RGB_Data = readRGBDataForFrame(frameIndex, segmentName, globalParams)
SEG_Data = readSEGDataForFrame(frameIndex, segmentName, globalParams)
# Sort images by key index
images = sorted(frame.images, key=lambda i: i.name)
# For each return
for returnIndex in returnsIndicesToUse:
# Put together [projected camera data, 3D points] on the same row, convert to tensor
cp_points_all_concat = np.concatenate([
cp_points_byreturn[returnIndex], points_byreturn[returnIndex]
],
axis=-1)
cp_points_all_concat_tensor = tf.constant(cp_points_all_concat)
# Compute the distance between lidar points and vehicle frame origin for each 3d point
distances_all_tensor = tf.norm(
points_byreturn[returnIndex], axis=-1, keepdims=True
) if IS_RANGE_COLOR_ShOWING_ENABLED is True else None
# Create a tensor with all projected [projected camera data] and one with 3d points
cp_points_all_tensor = tf.constant(cp_points_byreturn[returnIndex],
dtype=tf.int32)
points_3D_all_tensor = tf.constant(points_byreturn[returnIndex],
dtype=tf.float32)
# For each camera image index
image_projections_indices = [0, 1]
for imageProjIndex in image_projections_indices:
for image_index in cameraindices_to_use:
assert len(images) == len(cameraindices_to_use), (
"looks like you need to add more data in image_projection_indices and see if I didn't do any hacks with it ! Waymo data changed"
)
# A mask with True where the camera projection points where on this image index
mask = tf.equal(
cp_points_all_tensor[...,
0 if imageProjIndex == 0 else 3],
images[image_index].name)
# Now select only camera projection data and 3D points in vehicle frame associated with this camera index
cp_points_all_tensor_camera = tf.cast(tf.gather_nd(
cp_points_all_tensor, tf.where(mask)),
dtype=tf.float32)
points_3D_all_tensor_camera = tf.cast(tf.gather_nd(
points_3D_all_tensor, tf.where(mask)),
dtype=tf.float32)
# Select only the cp points associated with the iterated camera projection index
cp_points_all_tensor_camera_byProjIndex = cp_points_all_tensor_camera[...,1:3] if imageProjIndex == 0 \
else cp_points_all_tensor_camera[..., 4:6]
# Associate on each row one 3D point with its corresponding image camera projection (this index being iterated on)
# We have now on each row: [(x,y,z, camX, camY)]
points3D_and_cp = tf.concat([
points_3D_all_tensor_camera,
cp_points_all_tensor_camera_byProjIndex
],
axis=-1).numpy()
# Gather these points in the output dictionary
processPoints(points3D_and_cp,
plyDataPoints,
imageCameraIndex=image_index,
rgbData=RGB_Data,
segData=SEG_Data,
useEnvironmentPoints=useEnvironmentPoints,
useRawCarlaSegLabels=False)
# Demo showing...
if IS_RANGE_COLOR_ShOWING_ENABLED:
distances_all_tensor_camera = tf.gather_nd(
distances_all_tensor, tf.where(mask))
# Associate on each row, with each x,y in camera space, the distance from vehicle frame to the 3D point lidar
projected_points_all_from_raw_data = tf.concat(
[cp_points_all_tensor_camera[..., 1:3],
distances_all_tensor_camera] if imageProjIndex == 0 else \
[cp_points_all_tensor_camera[..., 4:6], distances_all_tensor_camera],
axis=-1).numpy()
plot_points_on_image(
projected_points_all_from_raw_data,
images[image_index],
rgba,
point_size=5.0)
# Add all point cloud points which are not not labeled (not found in a projected camera image)
mask = tf.equal(
cp_points_all_tensor[..., 0], 0
) # 0 is the index for unprojected camera point, on first cp index
points_3D_all_unprojected_tensor = tf.cast(tf.gather_nd(
points_3D_all_tensor, tf.where(mask)),
dtype=tf.float32)
processPoints(points_3D_all_unprojected_tensor.numpy(),
plyDataPoints,
imageCameraIndex=NO_CAMERA_INDEX,
useRawCarlaSegLabels=False)
plyDataPointsFlattened = convertDictPointsToList(plyDataPoints)
save_3d_pointcloud_asRGB(
plyDataPointsFlattened, outputFramePath_rgb
) # TODO: save one file with test_x.ply, using RGB values, another one test_x_seg.ply using segmented data.
save_3d_pointcloud_asSegLabel(plyDataPointsFlattened,
outputFramePath_seg)
save_3d_pointcloud_asSegColored(plyDataPointsFlattened,
outputFramePath_segColored)
onFrameProcessedEnd(globalParams)
def do_PeopleAndVehiclesExtraction(segmentPath, globalParams):
# 1. Iterate over frame by frame of a segment
dataset = tf.data.TFRecordDataset(segmentPath, compression_type='')
lidarLabels = None
pedestrians_data = {}
vehicle_data = {}
useGlobalPoseTransform = True
worldToReferencePointTransform = None
for frameIndex, data in enumerate(dataset):
if (globalParams.FRAMEINDEX_MIN > frameIndex
) and frameIndex != 0: # We need first frame reference point !!:
continue
if globalParams.FRAMEINDEX_MAX < frameIndex:
break
# Read the frame in bytes
frame = open_dataset.Frame()
frame.ParseFromString(bytearray(data.numpy()))
lidarLabels = frame.laser_labels
# All cars and pedestrians are relative to the car with sensors attached
# We can transform to world positions using frame.pose.transform.
# But to get coordinates back to the reference frame - WHICH IS THE INITIAL POSITION OF THE CAR - we use the below inverse matrix
frame_thisPose = np.reshape(
np.array(frame.pose.transform).astype(np.float32), [4, 4])
if frameIndex == 0:
worldToReferencePointTransform = np.linalg.inv(frame_thisPose)
#print(f'There are {len(lidarLabels)} lidar labels')
# Transform all boxes for this frame to the global world coordinates and retain minMax points from each
allBoxes = [None] * len(lidarLabels)
for entityIndex, label in enumerate(lidarLabels):
box = label.box
allBoxes[entityIndex] = [
box.center_x, box.center_y, box.center_z, box.length,
box.width, box.height, box.heading
]
allBoxesMinMax = get_min_max_3d_box_corners(
allBoxes,
vehicleToWorldTransform=frame_thisPose,
worldToReferencePointTransform=worldToReferencePointTransform,
useGlobalPoseTransform=useGlobalPoseTransform)
assert allBoxesMinMax.shape[1] == 3 and allBoxesMinMax.shape[
2] == 2, 'Incorrect format of data'
# Write info for this frame
if pedestrians_data.get(frameIndex) == None:
pedestrians_data[frameIndex] = {}
if vehicle_data.get(frameIndex) == None:
vehicle_data[frameIndex] = {}
for entityIndex, label in enumerate(lidarLabels):
if label.type != label.TYPE_VEHICLE and label.type != label.TYPE_CYCLIST and label.type != label.TYPE_PEDESTRIAN:
continue
boxMinMax = allBoxesMinMax[entityIndex]
isVehicle = label.type == label.TYPE_VEHICLE or label.type == label.TYPE_CYCLIST
isPedestrian = label.type == label.TYPE_PEDESTRIAN
targetOutputDict = vehicle_data[
frameIndex] if isVehicle else pedestrians_data[frameIndex]
assert targetOutputDict.get(
label.id) is None, "This entity Id is already in the set !!"
targetOutputDict[label.id] = {"BBMinMax": boxMinMax}
#break
#print("Vehicles...\n", vehicle_data)
#print("Pedestrians...\n", pedestrians_data)
# Save people.p and cars.p
segmentName = pipeline_commons.extractSegmentNameFromPath(segmentPath)
segmentFiles_OutputPath = os.path.join(
globalParams.MOTION_OUTPUT_BASEFILEPATH, segmentName)
filepathsAndDictionaries = {
'pedestrians':
(pedestrians_data, os.path.join(segmentFiles_OutputPath, "people.p")),
'cars': (vehicle_data, os.path.join(segmentFiles_OutputPath, "cars.p"))
}
for key, value in filepathsAndDictionaries.items():
dataObj = value[0]
filePath = value[1]
with open(filePath, mode="wb") as fileObj:
pickle.dump(
dataObj, fileObj, protocol=2
) # Protocol 2 because seems to be compatible between 2.x and 3.x !