Prepare data related to nuScenes dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth database. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info filenames. version (str): Dataset v
(root_path,
can_bus_root_path,
info_prefix,
version,
dataset_name,
out_dir,
max_sweeps=10)
| 50 | |
| 51 | |
| 52 | def nuscenes_data_prep(root_path, |
| 53 | can_bus_root_path, |
| 54 | info_prefix, |
| 55 | version, |
| 56 | dataset_name, |
| 57 | out_dir, |
| 58 | max_sweeps=10): |
| 59 | """Prepare data related to nuScenes dataset. |
| 60 | |
| 61 | Related data consists of '.pkl' files recording basic infos, |
| 62 | 2D annotations and groundtruth database. |
| 63 | |
| 64 | Args: |
| 65 | root_path (str): Path of dataset root. |
| 66 | info_prefix (str): The prefix of info filenames. |
| 67 | version (str): Dataset version. |
| 68 | dataset_name (str): The dataset class name. |
| 69 | out_dir (str): Output directory of the groundtruth database info. |
| 70 | max_sweeps (int): Number of input consecutive frames. Default: 10 |
| 71 | """ |
| 72 | nuscenes_converter.create_nuscenes_infos( |
| 73 | root_path, out_dir, can_bus_root_path, info_prefix, version=version, max_sweeps=max_sweeps) |
| 74 | |
| 75 | if version == 'v1.0-test': |
| 76 | info_test_path = osp.join( |
| 77 | out_dir, f'{info_prefix}_infos_temporal_test.pkl') |
| 78 | nuscenes_converter.export_2d_annotation( |
| 79 | root_path, info_test_path, version=version) |
| 80 | else: |
| 81 | info_train_path = osp.join( |
| 82 | out_dir, f'{info_prefix}_infos_temporal_train.pkl') |
| 83 | info_val_path = osp.join( |
| 84 | out_dir, f'{info_prefix}_infos_temporal_val.pkl') |
| 85 | nuscenes_converter.export_2d_annotation( |
| 86 | root_path, info_train_path, version=version) |
| 87 | nuscenes_converter.export_2d_annotation( |
| 88 | root_path, info_val_path, version=version) |
| 89 | # create_groundtruth_database(dataset_name, root_path, info_prefix, |
| 90 | # f'{out_dir}/{info_prefix}_infos_train.pkl') |
| 91 | |
| 92 | |
| 93 | def lyft_data_prep(root_path, info_prefix, version, max_sweeps=10): |