(data_path, lyft, train_scenes, val_scenes, test=False, max_sweeps=10)
| 84 | |
| 85 | |
| 86 | def fill_trainval_infos(data_path, lyft, train_scenes, val_scenes, test=False, max_sweeps=10): |
| 87 | train_lyft_infos = [] |
| 88 | val_lyft_infos = [] |
| 89 | progress_bar = tqdm.tqdm(total=len(lyft.sample), desc='create_info', dynamic_ncols=True) |
| 90 | |
| 91 | # ref_chans = ["LIDAR_TOP", "LIDAR_FRONT_LEFT", "LIDAR_FRONT_RIGHT"] |
| 92 | ref_chan = "LIDAR_TOP" |
| 93 | |
| 94 | for index, sample in enumerate(lyft.sample): |
| 95 | progress_bar.update() |
| 96 | |
| 97 | ref_info = {} |
| 98 | ref_sd_token = sample["data"][ref_chan] |
| 99 | ref_sd_rec = lyft.get("sample_data", ref_sd_token) |
| 100 | ref_cs_token = ref_sd_rec["calibrated_sensor_token"] |
| 101 | ref_cs_rec = lyft.get("calibrated_sensor", ref_cs_token) |
| 102 | |
| 103 | ref_to_car = transform_matrix( |
| 104 | ref_cs_rec["translation"], |
| 105 | Quaternion(ref_cs_rec["rotation"]), |
| 106 | inverse=False, |
| 107 | ) |
| 108 | |
| 109 | ref_from_car = transform_matrix( |
| 110 | ref_cs_rec["translation"], |
| 111 | Quaternion(ref_cs_rec["rotation"]), |
| 112 | inverse=True, |
| 113 | ) |
| 114 | |
| 115 | ref_lidar_path = lyft.get_sample_data_path(ref_sd_token) |
| 116 | |
| 117 | ref_boxes, ref_pose_rec = get_sample_data(lyft, ref_sd_token) |
| 118 | ref_time = 1e-6 * ref_sd_rec["timestamp"] |
| 119 | car_from_global = transform_matrix( |
| 120 | ref_pose_rec["translation"], |
| 121 | Quaternion(ref_pose_rec["rotation"]), |
| 122 | inverse=True, |
| 123 | ) |
| 124 | |
| 125 | car_to_global = transform_matrix( |
| 126 | ref_pose_rec["translation"], |
| 127 | Quaternion(ref_pose_rec["rotation"]), |
| 128 | inverse=False, |
| 129 | ) |
| 130 | |
| 131 | info = { |
| 132 | "lidar_path": Path(ref_lidar_path).relative_to(data_path).__str__(), |
| 133 | "ref_from_car": ref_from_car, |
| 134 | "ref_to_car": ref_to_car, |
| 135 | 'token': sample['token'], |
| 136 | 'car_from_global': car_from_global, |
| 137 | 'car_to_global': car_to_global, |
| 138 | 'timestamp': ref_time, |
| 139 | 'sweeps': [] |
| 140 | } |
| 141 | |
| 142 | sample_data_token = sample['data'][ref_chan] |
| 143 | curr_sd_rec = lyft.get('sample_data', sample_data_token) |
nothing calls this directly
no test coverage detected