Function get_sample_data

tools/visual.py:148–207

Returns the data path as well as all annotations related to that sample_data. Note that the boxes are transformed into the current sensor's coordinate frame. :param sample_data_token: Sample_data token. :param box_vis_level: If sample_data is an image, this sets required visibility

(sample_data_token: str,
                    box_vis_level: BoxVisibility = BoxVisibility.ANY,
                    selected_anntokens=None,
                    use_flat_vehicle_coordinates: bool = False)

def get_sample_data(sample_data_token: str,
                    box_vis_level: BoxVisibility = BoxVisibility.ANY,
                    selected_anntokens=None,
                    use_flat_vehicle_coordinates: bool = False):
    """
    Returns the data path as well as all annotations related to that sample_data.
    Note that the boxes are transformed into the current sensor's coordinate frame.
    :param sample_data_token: Sample_data token.
    :param box_vis_level: If sample_data is an image, this sets required visibility for boxes.
    :param selected_anntokens: If provided only return the selected annotation.
    :param use_flat_vehicle_coordinates: Instead of the current sensor's coordinate frame, use ego frame which is
                                         aligned to z-plane in the world.
    :return: (data_path, boxes, camera_intrinsic <np.array: 3, 3>)
    """

    # Retrieve sensor & pose records
    sd_record = nusc.get('sample_data', sample_data_token)
    cs_record = nusc.get('calibrated_sensor', sd_record['calibrated_sensor_token'])
    sensor_record = nusc.get('sensor', cs_record['sensor_token'])
    pose_record = nusc.get('ego_pose', sd_record['ego_pose_token'])

    data_path = nusc.get_sample_data_path(sample_data_token)

    if sensor_record['modality'] == 'camera':
        cam_intrinsic = np.array(cs_record['camera_intrinsic'])
        imsize = (sd_record['width'], sd_record['height'])
    else:
        cam_intrinsic = None
        imsize = None

    # Retrieve all sample annotations and map to sensor coordinate system.
    if selected_anntokens is not None:
        boxes = list(map(nusc.get_box, selected_anntokens))
    else:
        boxes = nusc.get_boxes(sample_data_token)

    # Make list of Box objects including coord system transforms.
    box_list = []
    for box in boxes:
        if use_flat_vehicle_coordinates:
            # Move box to ego vehicle coord system parallel to world z plane.
            yaw = Quaternion(pose_record['rotation']).yaw_pitch_roll[0]
            box.translate(-np.array(pose_record['translation']))
            box.rotate(Quaternion(scalar=np.cos(yaw / 2), vector=[0, 0, np.sin(yaw / 2)]).inverse)
        else:
            # Move box to ego vehicle coord system.
            box.translate(-np.array(pose_record['translation']))
            box.rotate(Quaternion(pose_record['rotation']).inverse)

            #  Move box to sensor coord system.
            box.translate(-np.array(cs_record['translation']))
            box.rotate(Quaternion(cs_record['rotation']).inverse)

        if sensor_record['modality'] == 'camera' and not \
                box_in_image(box, cam_intrinsic, imsize, vis_level=box_vis_level):
            continue

        box_list.append(box)