diff --git a/crud/entity/models.py b/crud/entity/models.py index 72a936a..ae6cbd7 100644 --- a/crud/entity/models.py +++ b/crud/entity/models.py @@ -14,6 +14,12 @@ class Scene(SQLModel,table=True): id: str = Field(default_factory=get_uuid, max_length=32, primary_key=True) scene_name: str = Field(max_length=256, description="事件名称", unique=True) calib_json: List[dict] = Field(sa_type=JSON, nullable=True, description="calib是从点云到图像的校准矩阵。它是可选的，但如果提供，该框将投影在图像上以帮助注释。") + box_type: str = Field(default="psr", max_length=256, description="标注框类型") + camera_ext: str = Field(default=".jpg", max_length=256, description="标注的图片类型（后缀）") + lidar_ext: str = Field(default=".pcd", max_length=256) + radar_ext: str = Field(default=".pcd", max_length=256) + aux_lidar_ext: str = Field(default=".pcd", max_length=256) + desc: List[dict] = Field(sa_type=JSON, nullable=True, description="calib是从点云到图像的校准矩阵。它是可选的，但如果提供，该框将投影在图像上以帮助注释。") class SceneWorldItem(SQLModel,table=True): @@ -22,14 +28,12 @@ class SceneWorldItem(SQLModel,table=True): scene_id: str = Field(max_length=256, description="事件id") scene_name: str = Field(max_length=256, description="事件名") frame: str = Field(max_length=256, description="帧序号") - calib_json: List[dict] = Field(sa_type=JSON, nullable=True, description="calib是从点云到图像的校准矩阵。它是可选的，但如果提供，该框将投影在图像上以帮助注释。") label_json: List[dict] = Field(sa_type=JSON, nullable=True, description="标注信息 == annotation") ego_pose_json: List[dict] = Field(sa_type=JSON, nullable=True, description="") front_img_path: str = Field(max_length=512, description="minio对应文件的路径") left_img_path: str = Field(max_length=512, description="minio对应文件的路径") right_img_path: str = Field(max_length=512, description="minio对应文件的路径") - lidar_pcd_path: str = Field(max_length=512, description="minio对应的pcd文件的路径") # 初始化数据库表（异步执行） SQLModel.metadata.create_all(engine) \ No newline at end of file diff --git a/crud/service/scene_service.py b/crud/service/scene_service.py index 1a550b4..4a94050 100644 --- a/crud/service/scene_service.py +++ b/crud/service/scene_service.py @@ -24,11 +24,11 @@ class SceneService: item = { "scene": scene.scene_name, "frames": [scene_world.frame for scene_world in scene_worlds], - "lidar_ext": ".pcd", - "camera_ext": ".jpg", - "radar_ext": ".pcd", - "aux_lidar_ext": ".pcd", - "boxtype": "psr", + "lidar_ext": scene.lidar_ext, + "camera_ext": scene.camera_ext, + "radar_ext": scene.radar_ext, + "aux_lidar_ext": scene.aux_lidar_ext, + "boxtype": scene.box_type, "camera": [ "right", "left", diff --git a/crud/utils/minio_conn.py b/crud/utils/minio_conn.py index ab32f8d..b6dc24e 100644 --- a/crud/utils/minio_conn.py +++ b/crud/utils/minio_conn.py @@ -86,9 +86,9 @@ class MinioServer: r = self.conn.get_object(bucket, filename) return r except Exception: - logging.exception(f"Fail to get {bucket}/{filename}") + logging.exception(f"Fail to get {bucket}{filename}") self.__open__() - time.sleep(1) + time.sleep(0.5) return None def obj_exist(self, bucket, filename): try: diff --git a/data/example/calib/camera/front.json b/data/example/calib/camera/front.json deleted file mode 100644 index 2821d0b..0000000 --- a/data/example/calib/camera/front.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "extrinsic": [-0.9994466143126584, 0.033033376071303994, -0.003906559137689193, 0.20487898588180542, - 0.0025198193977806005, -0.0419178508124942, -0.9991178830816032, 0.0013696063542738557, - -0.033167991334523576, -0.9985748293686324, 0.04181141593201179, -0.10943480581045151, - 0, 0, 0, 1], - "intrinsic": [1.2100629810000000e+03, 0.0, 1.0224299030000000e+03, - 0.0,1.2058507139999999e+03, 7.9254164400000002e+02, - 0.0, 0.0, 1.0] -} diff --git a/data/example/calib/camera/left.json b/data/example/calib/camera/left.json deleted file mode 100644 index ad8081e..0000000 --- a/data/example/calib/camera/left.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "extrinsic_ok": [0.000795916642330613, -0.9994847331424607, 0.03208792189972302, -0.5, - 0.05182623470216488, -0.03200358149726322, -0.9981431821977967, 0.0013696063542738557, - 0.998655800520527, 0.002457434941619845, 0.05177405817794394, -0.10943480581045151, - 0, 0, 0, 1], - "extrinsic": [ -3.9384503688273731e-02, -9.9721160654039998e-01, - 6.3386691429213382e-02, 1.2484878301620483e-01, - 5.0218947462187857e-02, -6.5331141114291447e-02, - -9.9659916682510530e-01, -1.8440222740173340e-01, - 9.9796138110901755e-01, -3.6067350634868045e-02, - 5.2651951845710920e-02, -3.9436036348342896e-01, 0, 0, 0, 1], - - "intrinsic": [1.2100629810000000e+03, 0.0, 1.0224299030000000e+03, - 0.0,1.2058507139999999e+03, 7.9254164400000002e+02, - 0.0, 0.0, 1.0] -} - - diff --git a/data/example/calib/camera/right.json b/data/example/calib/camera/right.json deleted file mode 100644 index 745c62a..0000000 --- a/data/example/calib/camera/right.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "extrinsic": [3.5640002421153172e-02, 9.9786432954622106e-01, - -5.4740935749134578e-02, 1.0951525717973709e-01, - -9.7262110862409989e-03, -5.4426799113952706e-02, - -9.9847039232824297e-01, -3.1793252564966679e-03, - -9.9931736252570236e-01, 3.6117909096182677e-02, - 7.7656678524001821e-03, -3.9152929186820984e-01, 0, 0, 0, 1], - "intrinsic": [1.2100629810000000e+03, 0.0, 1.0224299030000000e+03, - 0.0,1.2058507139999999e+03, 7.9254164400000002e+02, - 0.0, 0.0, 1.0] -} diff --git a/data/example/camera/front/000965.jpg b/data/example/camera/front/000965.jpg deleted file mode 100644 index 5d941e3..0000000 Binary files a/data/example/camera/front/000965.jpg and /dev/null differ diff --git a/data/example/camera/front/000970.jpg b/data/example/camera/front/000970.jpg deleted file mode 100644 index 4a27f74..0000000 Binary files a/data/example/camera/front/000970.jpg and /dev/null differ diff --git a/data/example/camera/front/000975.jpg b/data/example/camera/front/000975.jpg deleted file mode 100644 index 588cd49..0000000 Binary files a/data/example/camera/front/000975.jpg and /dev/null differ diff --git a/data/example/camera/left/000965.jpg b/data/example/camera/left/000965.jpg deleted file mode 100644 index 6ab47d3..0000000 Binary files a/data/example/camera/left/000965.jpg and /dev/null differ diff --git a/data/example/camera/left/000970.jpg b/data/example/camera/left/000970.jpg deleted file mode 100644 index 520e5c4..0000000 Binary files a/data/example/camera/left/000970.jpg and /dev/null differ diff --git a/data/example/camera/left/000975.jpg b/data/example/camera/left/000975.jpg deleted file mode 100644 index d4c896d..0000000 Binary files a/data/example/camera/left/000975.jpg and /dev/null differ diff --git a/data/example/camera/right/000965.jpg b/data/example/camera/right/000965.jpg deleted file mode 100644 index 2312325..0000000 Binary files a/data/example/camera/right/000965.jpg and /dev/null differ diff --git a/data/example/camera/right/000970.jpg b/data/example/camera/right/000970.jpg deleted file mode 100644 index fad4856..0000000 Binary files a/data/example/camera/right/000970.jpg and /dev/null differ diff --git a/data/example/camera/right/000975.jpg b/data/example/camera/right/000975.jpg deleted file mode 100644 index 9028d9d..0000000 Binary files a/data/example/camera/right/000975.jpg and /dev/null differ diff --git a/data/example/label/000950.json b/data/example/label/000950.json deleted file mode 100644 index ec63d99..0000000 --- a/data/example/label/000950.json +++ /dev/null @@ -1,401 +0,0 @@ -[ - { - "obj_id": "1", - "obj_type": "Car", - "psr": { - "position": { - "x": 3.529868076024286, - "y": -20.977179189290187, - "z": 0.2729166298029867 - }, - "rotation": { - "x": -0.06410093347106911, - "y": 0.019216916140136837, - "z": -1.4922565104551522 - }, - "scale": { - "x": 3.9244923848790014, - "y": 1.865599097293131, - "z": 1.7888008346377304 - } - } - }, - { - "obj_id": "3", - "obj_type": "Bus", - "psr": { - "position": { - "x": 8.558005738090287, - "y": -43.42623181315385, - "z": 2.2127436169999997 - }, - "rotation": { - "x": -0.05043085100891321, - "y": 0.00034744616962805586, - "z": 1.4537329581202632 - }, - "scale": { - "x": 10.607773093776615, - "y": 3.2364406462431763, - "z": 3.2164060563210306 - } - } - }, - { - "obj_id": "5", - "obj_type": "Rider", - "psr": { - "position": { - "x": 2.5209829273189825, - "y": -42.68335076021329, - "z": 1.584129100000001 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 4.336244465085028 - }, - "scale": { - "x": 1.6596497400399342, - "y": 0.6739244576664531, - "z": 1.7 - } - } - }, - { - "obj_id": "6", - "obj_type": "Rider", - "psr": { - "position": { - "x": -10.771864568778255, - "y": -15.93655177072094, - "z": 0.24457627000000032 - }, - "rotation": { - "x": 0, - "y": 0, - "z": -1.9517015556769242 - }, - "scale": { - "x": 1.6596497400399342, - "y": 0.6739244576664531, - "z": 1.7 - } - } - }, - { - "obj_id": "8", - "obj_type": "Car", - "psr": { - "position": { - "x": 4.1449631260256865, - "y": -49.72015370499495, - "z": 1.8306930000000008 - }, - "rotation": { - "x": -0.05381384131006369, - "y": 0.0026916304823240986, - "z": 1.449489444900611 - }, - "scale": { - "x": 4.5, - "y": 1.6788924984728437, - "z": 1.656933188116807 - } - } - }, - { - "obj_id": "13", - "obj_type": "Car", - "psr": { - "position": { - "x": 4.782968954281387, - "y": -38.264784793961525, - "z": 1.2062180000000002 - }, - "rotation": { - "x": -0.053129458150669544, - "y": 0, - "z": 1.4605105607601199 - }, - "scale": { - "x": 4.590450000000001, - "y": 1.8, - "z": 1.4558852218914666 - } - } - }, - { - "obj_id": "14", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": 21.764847842841846, - "y": 19.67531983340936, - "z": -2.3684009999999995 - }, - "rotation": { - "x": 0, - "y": 0, - "z": -1.4134299092031593 - }, - "scale": { - "x": 0.941235148478231, - "y": 0.8223159109219417, - "z": 1.9347585767365922 - } - } - }, - { - "obj_id": "15", - "obj_type": "Car", - "psr": { - "position": { - "x": 24.92262785789717, - "y": -31.23023375697396, - "z": 0.346809 - }, - "rotation": { - "x": 0, - "y": 0, - "z": -0.2819996471249957 - }, - "scale": { - "x": 4.5, - "y": 1.6458116836318435, - "z": 1.5 - } - } - }, - { - "obj_id": "20", - "obj_type": "Car", - "psr": { - "position": { - "x": -2.717663507885487, - "y": -28.242388522408124, - "z": 0.918762822918971 - }, - "rotation": { - "x": -0.06517306244786299, - "y": 0.00010959092045555565, - "z": 4.658312072236952 - }, - "scale": { - "x": 4.921583727079626, - "y": 4.030003022236565, - "z": 2.0017558148508505 - } - } - }, - { - "obj_id": "23", - "obj_type": "Car", - "psr": { - "position": { - "x": 15.708570068829054, - "y": 22.8816763991485, - "z": -2.823972376959448 - }, - "rotation": { - "x": -0.06287060419300494, - "y": 0.044058144173183246, - "z": 1.5608175536652484 - }, - "scale": { - "x": 4.723135139885376, - "y": 1.6295165184473699, - "z": 1.9629544517990642 - } - } - }, - { - "obj_id": "27", - "obj_type": "Car", - "psr": { - "position": { - "x": 36.659412470409734, - "y": -34.404139500162444, - "z": 0.8085990000000003 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 6.04508466163526 - }, - "scale": { - "x": 4.5, - "y": 1.8, - "z": 1.5 - } - } - }, - { - "obj_id": "31", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": -20.783288738584815, - "y": -35.12896563418934, - "z": 1.858591100000001 - }, - "rotation": { - "x": -0.005200816595089385, - "y": 0, - "z": 1.471107993095347 - }, - "scale": { - "x": 0.5181025259869625, - "y": 0.7083013780156343, - "z": 1.7341699999999998 - } - } - }, - { - "obj_id": "50", - "obj_type": "Rider", - "psr": { - "position": { - "x": 15.9087829430282, - "y": -40.12813618888572, - "z": 1.2355839999999998 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 1.3266865299729125 - }, - "scale": { - "x": 1.797162849996143, - "y": 1.3257591556815653, - "z": 1.8592649635634135 - } - } - }, - { - "obj_id": "51", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": 22.8371355483323, - "y": 4.90188930510908, - "z": -1.7500000000000009 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 4.482388980384684 - }, - "scale": { - "x": 0.6015009483696415, - "y": 0.6285815091742153, - "z": 1.7 - } - } - }, - { - "obj_id": "53", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": 19.123480909896898, - "y": 1.5139745995868878, - "z": -1.3000000000000005 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 4.71238898038469 - }, - "scale": { - "x": 0.7412849208820917, - "y": 0.6806637022431177, - "z": 1.7 - } - } - }, - { - "obj_id": "54", - "obj_type": "Motor", - "psr": { - "position": { - "x": 24.253720531058207, - "y": 15.162416511901782, - "z": -2.4499999999999993 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 0.047350384707351756 - }, - "scale": { - "x": 1.7485658990665154, - "y": 1.0208318215505217, - "z": 1.5 - } - } - }, - { - "obj_id": "81", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": -8.085881877042993, - "y": -6.2551993211908155, - "z": -0.1914089000000001 - }, - "rotation": { - "x": -0.005200816595089385, - "y": 0, - "z": 4.61270064668514 - }, - "scale": { - "x": 0.6448904310729859, - "y": 0.7083013780156343, - "z": 1.7341699999999998 - } - } - }, - { - "obj_id": "82", - "obj_type": "Pedestrian", - "psr": { - "position": { - "x": -6.645859750894334, - "y": -4.976769948383015, - "z": 0.7114255483000865 - }, - "rotation": { - "x": -0.16631359886906968, - "y": 0, - "z": -1.669189425167795 - }, - "scale": { - "x": 3.302160998965941, - "y": 2.0051437367936247, - "z": 1.9156025512243486 - } - } - }, - { - "obj_id": "1001", - "obj_type": "Truck", - "psr": { - "position": { - "x": -22.386071618064307, - "y": -21.994698203384374, - "z": 0.8958240400000002 - }, - "rotation": { - "x": -0.06061705351581413, - "y": 0.0005575736396516535, - "z": 3.082377014838373 - }, - "scale": { - "x": 5.083309851403533, - "y": 1.7025087091290587, - "z": 2.2705067053039354 - } - } - } -] \ No newline at end of file diff --git a/data/example/label/000965.json b/data/example/label/000965.json deleted file mode 100644 index cc9e6fe..0000000 --- a/data/example/label/000965.json +++ /dev/null @@ -1,443 +0,0 @@ -[ - { - "obj_id": "1", - "obj_type": "Car", - "psr": { - "position": { - "x": 4.503374840671313, - "y": -15.877214498771757, - "z": -0.3460004979550271 - }, - "rotation": { - "x": 0, - "y": 0, - "z": -1.5446163880149815 - }, - "scale": { - "x": 4.177141189575195, - "y": 1.7932285025511971, - "z": 1.678846906459218 - } - } - }, - { - "obj_id": "3", - "obj_type": "Bus", - "psr": { - "position": { - "x": 10.521892170327192, - "y": -30.12354183191181, - "z": 1.0691971370000002 - }, - "rotation": { - "x": -0.05043085100891321, - "y": 0.00034744616962805586, - "z": 1.4962921107974831 - }, - "scale": { - "x": 10.4060401, - "y": 2.6116105531799785, - "z": 3.2164060563210306 - } - } - }, - { - "obj_id": "4", - "obj_type": "Car", - "psr": { - "position": { - "x": 5.585192027760058, - "y": -48.75586246676285, - "z": 1.4203556999999993 - }, - "rotation": { - "x": -0.053810528807219656, - "y": 0.0053141924483858785, - "z": 1.4025025217488531 - }, - "scale": { - "x": 4.500000000000001, - "y": 1.7126382376921478, - "z": 1.7071399206499345 - } - } - }, - { - "obj_id": "5", - "obj_type": "Rider", - "psr": { - "position": { - "x": 3.635891386798903, - "y": -35.527682658837875, - "z": 0.8730890000000007 - }, - "rotation": { - "x": 0, - "y": 0, - "z": 4.166373105671871 - }, - "scale": { - "x": 1.6596497400399342, - "y": 0.6739244576664531, - "z": 1.7 - } - } - }, - { - "obj_id": "6", - "obj_type": "Rider", - "psr": { - "position": { - "x": -9.92745449121503, - 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"y": 0, - "z": 4.370040436014779 - }, - "scale": { - "x": 2.377152468109147, - "y": 0.7746587857577377, - "z": 1.9156025512243486 - } - } - }, - { - "obj_id": "1001", - "obj_type": "Truck", - "psr": { - "position": { - "x": -21.12969353464381, - "y": -9.232904261081396, - "z": -0.37339159297459545 - }, - "rotation": { - "x": 0.025047730911594995, - "y": -0.0015804909276805725, - "z": 3.1166765109083716 - }, - "scale": { - "x": 5.083309851403533, - "y": 1.7025087091290587, - "z": 2.2705067053039354 - } - } - } -] \ No newline at end of file diff --git a/data/example/lidar/000950.pcd b/data/example/lidar/000950.pcd deleted file mode 100644 index 9113f31..0000000 Binary files a/data/example/lidar/000950.pcd and /dev/null differ diff --git a/data/example/lidar/000965.pcd b/data/example/lidar/000965.pcd deleted file mode 100644 index 45715c4..0000000 Binary files a/data/example/lidar/000965.pcd and /dev/null differ diff --git a/data/example/lidar/000970.pcd b/data/example/lidar/000970.pcd deleted file mode 100644 index b82bc40..0000000 Binary files a/data/example/lidar/000970.pcd and /dev/null differ diff --git a/data/example/lidar/000975.pcd b/data/example/lidar/000975.pcd deleted file mode 100644 index 7b2adca..0000000 Binary files a/data/example/lidar/000975.pcd and /dev/null differ diff --git a/router.py b/router.py index 5be89b6..3609904 100644 --- a/router.py +++ b/router.py @@ -104,7 +104,7 @@ def get_all_scene_desc(): def objs_of_scene(scene: str): """获取场景中的所有对象""" # todo从数据库查询图片列表 - return SceneService.get_all_objs(os.path.join("./data", scene)) + return SceneService.get_all_objs(os.path.join("data", scene)) # 无须修改 @router.post("/cropscene") @@ -132,7 +132,7 @@ async def cropscene(request_data: CropSceneRequest): return {"code": code, "log": log} -# todo 修改完成一半 +# 已修改完成 @router.get("/scenemeta") def scenemeta(scene: str): # 获取s目录下的所有文件信息 @@ -143,10 +143,12 @@ def scenemeta(scene: str): def auto_annotate(scene: str, frame: str): """自动标注""" print(f"Auto annotate {scene}, {frame}") - file_path = f'./data/{scene}/lidar/{frame}.pcd' + file_path = f'data/{scene}/lidar/{frame}.pcd' if not os.path.exists(file_path): raise HTTPException(status_code=404, detail=f"File not found: {file_path}") return pre_annotate.annotate_file(file_path) + +# 原始静态资源获取 @router.get("/data/{file:path}") def get_file(file): file_path = f'/data/{file}' @@ -173,25 +175,3 @@ def get_file(file): media_type=media_type, headers=headers ) -# @router.get("/get_file") -def get_file(file_path:str): - """获取文件""" - conn=MinioServer() - minio_file=conn.get_file(MINIO_BUCKET, file_path) - # media_type, _ = mimetypes.guess_type(minio_file) - # if media_type is None: - media_type = 'application/octet-stream' # 默认二进制流 - - # 设置响应头，告诉浏览器这是一个附件，并建议文件名 - headers = { - 'Content-Disposition': f'attachment; filename="{os.path.basename(file_path)}"', - "Content-Type": media_type, - } - # 使用 StreamingResponse 进行流式响应 - # response.data 是一个类似文件的对象，可以被直接读取 - return Response( - minio_file.read(), # 将整个文件读入内存后返回（简单但内存占用高） - # 更优的流式方式见下方说明 - media_type=media_type, - headers=headers - )