def createKittiFormatedDataset(self, sampleCounter, configurations):
# generate file name
n_digits = len(str(sampleCounter))
output_file_name = "" # ex: 000000.txt
for i in range(0, 6 - n_digits):
output_file_name = output_file_name + "0"
if len(output_file_name) is not 6:
output_file_name = output_file_name + str(sampleCounter)
# create the hierarchy of directories
Path(self.kittiOutputSamplesDir).mkdir(parents=True, exist_ok=True)
Path(self.kittiViewsDir).mkdir(parents=True, exist_ok=True)
Path(self.kittiVelodyneDir).mkdir(parents=True, exist_ok=True)
Path(self.kittiLabelsDir).mkdir(parents=True, exist_ok=True)
Path(self.kittiCalibDir).mkdir(parents=True, exist_ok=True)
# save image
self.gtaSample.imageView.saveImage(self.gtaSample.imageView.kittiImage,
self.kittiViewsDir,
output_file_name + ".png")
if configurations.includeIntensity[0]:
# save point cloud - the full rotated point cloud
saveKittiVelodyneFile(
addIntensityToPointCloud(
self.gtaSample.pcData.list_rotated_raw_pc,
dummy_value=self.configurations.includeIntensity[1]),
output_file_name + ".bin", self.kittiVelodyneDir)
else:
saveKittiVelodyneFile(self.gtaSample.pcData.list_rotated_raw_pc,
output_file_name + ".bin",
self.kittiVelodyneDir)
# save calibration info
calib = Calibration((self.gtaSample.imageView.kittiImage.shape[1],
self.gtaSample.imageView.kittiImage.shape[0]),
self.configurations.fov)
calib.saveCalibrationFile(self.kittiCalibDir,
output_file_name + ".txt")
# labels info
label = Labeling(self.gtaSample,
calib,
self.kittiLabelsDir,
output_file_name + ".txt",
configurations,
fv_only_entities=True)
if label.isEmpty:
self.isEmpty = True
print("Gta Sample doesn't have entities! It will be ignored.")
# remove sample with empty label file
os.remove(self.kittiVelodyneDir + output_file_name + ".bin")
os.remove(self.kittiViewsDir + output_file_name + ".png")
os.remove(self.kittiCalibDir + output_file_name + ".txt")
