Class LoadMultiViewImageFromMultiSweeps

loaders/pipelines/loading.py:599–725

    
@PIPELINES.register_module()
class LoadMultiViewImageFromMultiSweeps(object):
    def __init__(self,
                 sweeps_num=5,
                 color_type='color',
                 test_mode=False):
        self.sweeps_num = sweeps_num
        self.color_type = color_type
        self.test_mode = test_mode

        self.train_interval = [4, 8]
        self.test_interval = 6

        try:
            mmcv.use_backend('turbojpeg')
        except ImportError:
            mmcv.use_backend('cv2')

    def load_offline(self, results):
        cam_types = [
            'CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_FRONT_LEFT',
            'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_BACK_RIGHT'
        ]

        if len(results['sweeps']['prev']) == 0:
            for _ in range(self.sweeps_num):
                for j in range(len(cam_types)):
                    results['img'].append(results['img'][j])
                    results['img_timestamp'].append(results['img_timestamp'][j])
                    results['filename'].append(results['filename'][j])
                    results['lidar2img'].append(np.copy(results['lidar2img'][j]))
                    results['intrinsics'].append(np.copy(results['intrinsics'][j]))
        else:
            if self.test_mode:
                interval = self.test_interval
                choices = [(k + 1) * interval - 1 for k in range(self.sweeps_num)]
            elif len(results['sweeps']['prev']) <= self.sweeps_num:
                pad_len = self.sweeps_num - len(results['sweeps']['prev'])
                choices = list(range(len(results['sweeps']['prev']))) + [len(results['sweeps']['prev']) - 1] * pad_len
            else:
                max_interval = len(results['sweeps']['prev']) // self.sweeps_num
                max_interval = min(max_interval, self.train_interval[1])
                min_interval = min(max_interval, self.train_interval[0])             
                interval = np.random.randint(min_interval, max_interval + 1)
                
                # interval = 6  # here
                
                choices = [(k + 1) * interval - 1 for k in range(self.sweeps_num)]

            for idx in sorted(list(choices)):
                sweep_idx = min(idx, len(results['sweeps']['prev']) - 1)
                sweep = results['sweeps']['prev'][sweep_idx]

                if len(sweep.keys()) < len(cam_types):
                    sweep = results['sweeps']['prev'][sweep_idx - 1]

                for sensor in cam_types:
                    results['img'].append(mmcv.imread(sweep[sensor]['data_path'], self.color_type))
                    results['img_timestamp'].append(sweep[sensor]['timestamp'] / 1e6)