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import numpy as np |
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from mmdet3d.datasets import LoadAnnotations3D, LoadPointsFromFile |
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from mmdet3d.datasets.transforms.loading import LoadImageFromFileMono3D |
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from mmdet3d.structures import LiDARInstance3DBoxes |
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def create_dummy_data_info(with_ann=True): |
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ann_info = { |
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'gt_bboxes': |
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np.array([[712.4, 143., 810.73, 307.92]]), |
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'gt_labels': |
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np.array([1]), |
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'gt_bboxes_3d': |
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LiDARInstance3DBoxes( |
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np.array( |
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[[8.7314, -1.8559, -1.5997, 1.2000, 0.4800, 1.8900, |
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-1.5808]])), |
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'gt_labels_3d': |
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np.array([1]), |
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'centers_2d': |
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np.array([[765.04, 214.56]]), |
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'depths': |
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np.array([8.410]), |
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'num_lidar_pts': |
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np.array([377]), |
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'difficulty': |
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np.array([0]), |
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'truncated': |
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np.array([0]), |
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'occluded': |
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np.array([0]), |
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'alpha': |
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np.array([-0.2]), |
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'score': |
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np.array([0.]), |
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'index': |
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np.array([0]), |
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'group_id': |
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np.array([0]) |
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} |
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data_info = { |
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'sample_id': |
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0, |
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'images': { |
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'CAM0': { |
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'cam2img': [[707.0493, 0.0, 604.0814, 0.0], |
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[0.0, 707.0493, 180.5066, 0.0], |
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[0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'CAM1': { |
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'cam2img': [[707.0493, 0.0, 604.0814, -379.7842], |
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[0.0, 707.0493, 180.5066, 0.0], |
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[0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'CAM2': { |
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'img_path': |
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'tests/data/kitti/training/image_2/000000.png', |
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'height': |
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370, |
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'width': |
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1224, |
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'cam2img': [[707.0493, 0.0, 604.0814, 45.75831], |
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[0.0, 707.0493, 180.5066, -0.3454157], |
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[0.0, 0.0, 1.0, 0.004981016], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'CAM3': { |
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'cam2img': [[707.0493, 0.0, 604.0814, -334.1081], |
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[0.0, 707.0493, 180.5066, 2.33066], |
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[0.0, 0.0, 1.0, 0.003201153], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'R0_rect': [[ |
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0.9999127984046936, 0.010092630051076412, |
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-0.008511931635439396, 0.0 |
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], |
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[ |
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-0.010127290152013302, 0.9999405741691589, |
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-0.004037670791149139, 0.0 |
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], |
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[ |
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0.008470674976706505, 0.0041235219687223434, |
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0.9999555945396423, 0.0 |
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], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'lidar_points': { |
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'num_pts_feats': |
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4, |
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'lidar_path': |
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'tests/data/kitti/training/velodyne_reduced/000000.bin', |
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'lidar2cam': [[ |
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-0.0015960992313921452, -0.9999162554740906, |
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-0.012840436771512032, -0.022366708144545555 |
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], |
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[ |
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-0.00527064548805356, 0.012848696671426296, |
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-0.9999035596847534, -0.05967890843749046 |
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], |
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[ |
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0.9999848008155823, -0.0015282672829926014, |
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-0.005290712229907513, -0.33254900574684143 |
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], [0.0, 0.0, 0.0, 1.0]], |
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'Tr_velo_to_cam': [[ |
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0.006927963811904192, -0.9999722242355347, -0.0027578289154917, |
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-0.024577289819717407 |
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], |
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[ |
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-0.0011629819637164474, |
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0.0027498360723257065, -0.9999955296516418, |
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-0.06127237156033516 |
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], |
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[ |
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0.999975323677063, 0.006931141018867493, |
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-0.0011438990477472544, -0.33210289478302 |
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], [0.0, 0.0, 0.0, 1.0]], |
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'Tr_imu_to_velo': [[ |
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0.999997615814209, 0.0007553070900030434, |
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-0.002035825978964567, -0.8086758852005005 |
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], |
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[ |
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-0.0007854027207940817, 0.9998897910118103, |
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-0.014822980388998985, 0.3195559084415436 |
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], |
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[ |
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0.002024406101554632, 0.014824540354311466, |
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0.9998881220817566, -0.7997230887413025 |
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], [0.0, 0.0, 0.0, 1.0]] |
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}, |
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'instances': [{ |
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'bbox': [712.4, 143.0, 810.73, 307.92], |
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'bbox_label': |
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-1, |
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'bbox_3d': [ |
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1.840000033378601, 1.4700000286102295, 8.40999984741211, |
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1.2000000476837158, 1.8899999856948853, 0.47999998927116394, |
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0.009999999776482582 |
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], |
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'bbox_label_3d': |
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-1, |
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'center_2d': [765.04, 214.56], |
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'depth': |
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8.410, |
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'num_lidar_pts': |
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377, |
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'difficulty': |
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0, |
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'truncated': |
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0, |
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'occluded': |
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0, |
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'alpha': |
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-0.2, |
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'score': |
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0.0, |
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'index': |
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0, |
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'group_id': |
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0 |
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}], |
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'plane': |
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None |
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} |
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if with_ann: |
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data_info['ann_info'] = ann_info |
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return data_info |
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def create_data_info_after_loading(): |
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load_anns_transform = LoadAnnotations3D( |
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with_bbox_3d=True, with_label_3d=True) |
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load_points_transform = LoadPointsFromFile( |
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coord_type='LIDAR', load_dim=4, use_dim=3) |
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data_info = create_dummy_data_info() |
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data_info = load_points_transform(data_info) |
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data_info_after_loading = load_anns_transform(data_info) |
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return data_info_after_loading |
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def create_mono3d_data_info_after_loading(): |
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load_anns_transform = LoadAnnotations3D( |
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with_bbox=True, |
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with_label=True, |
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with_bbox_3d=True, |
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with_label_3d=True, |
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with_bbox_depth=True) |
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load_img_transform = LoadImageFromFileMono3D() |
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data_info = create_dummy_data_info() |
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data_info = load_img_transform(data_info) |
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data_info_after_loading = load_anns_transform(data_info) |
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return data_info_after_loading |
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