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feat：完成场景资源的设置--原功能-不包括自动标注

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main
chenzhirong 4 months ago
parent 11be39b5b1
commit 137f7b7da4
24 changed files with 18 additions and 1907 deletions
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8
crud/entity/models.py
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@ -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)

10
crud/service/scene_service.py
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@ -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",

4
crud/utils/minio_conn.py
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@ -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:

9
data/example/calib/camera/front.json
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@ -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]
}

18
data/example/calib/camera/left.json
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@ -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]
}

11
data/example/calib/camera/right.json
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@ -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]
}

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401
data/example/label/000950.json
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@ -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": {
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},
"scale": {
"x": 4.590450000000001,
"y": 1.8,
"z": 1.4558852218914666
}
}
},
{
"obj_id": "14",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": 21.764847842841846,
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},
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},
"scale": {
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"z": 1.9347585767365922
}
}
},
{
"obj_id": "15",
"obj_type": "Car",
"psr": {
"position": {
"x": 24.92262785789717,
"y": -31.23023375697396,
"z": 0.346809
},
"rotation": {
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},
"scale": {
"x": 4.5,
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}
}
},
{
"obj_id": "20",
"obj_type": "Car",
"psr": {
"position": {
"x": -2.717663507885487,
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},
"rotation": {
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"scale": {
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}
}
},
{
"obj_id": "23",
"obj_type": "Car",
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}
}
},
{
"obj_id": "27",
"obj_type": "Car",
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"scale": {
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}
}
},
{
"obj_id": "31",
"obj_type": "Pedestrian",
"psr": {
"position": {
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}
}
},
{
"obj_id": "50",
"obj_type": "Rider",
"psr": {
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},
"rotation": {
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}
}
},
{
"obj_id": "51",
"obj_type": "Pedestrian",
"psr": {
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},
{
"obj_id": "53",
"obj_type": "Pedestrian",
"psr": {
"position": {
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"z": 1.7
}
}
},
{
"obj_id": "54",
"obj_type": "Motor",
"psr": {
"position": {
"x": 24.253720531058207,
"y": 15.162416511901782,
"z": -2.4499999999999993
},
"rotation": {
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}
}
},
{
"obj_id": "81",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": -8.085881877042993,
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}
},
{
"obj_id": "82",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": -6.645859750894334,
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},
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"z": 1.9156025512243486
}
}
},
{
"obj_id": "1001",
"obj_type": "Truck",
"psr": {
"position": {
"x": -22.386071618064307,
"y": -21.994698203384374,
"z": 0.8958240400000002
},
"rotation": {
"x": -0.06061705351581413,
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},
"scale": {
"x": 5.083309851403533,
"y": 1.7025087091290587,
"z": 2.2705067053039354
}
}
}
]

443
data/example/label/000965.json
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@ -1,443 +0,0 @@
[
{
"obj_id": "1",
"obj_type": "Car",
"psr": {
"position": {
"x": 4.503374840671313,
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"z": -0.3460004979550271
},
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},
"scale": {
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"y": 1.7932285025511971,
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}
}
},
{
"obj_id": "3",
"obj_type": "Bus",
"psr": {
"position": {
"x": 10.521892170327192,
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},
{
"obj_id": "4",
"obj_type": "Car",
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}
}
},
{
"obj_id": "5",
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}
},
{
"obj_id": "6",
"obj_type": "Rider",
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}
},
{
"obj_id": "8",
"obj_type": "Car",
"psr": {
"position": {
"x": 6.345250193364336,
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},
"rotation": {
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},
"scale": {
"x": 4.5,
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"z": 1.656933188116807
}
}
},
{
"obj_id": "12",
"obj_type": "ScooterRider",
"psr": {
"position": {
"x": 14.820338434030418,
"y": 3.435544743843195,
"z": -1.6107520845526528
},
"rotation": {
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},
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}
}
},
{
"obj_id": "15",
"obj_type": "Car",
"psr": {
"position": {
"x": 26.014664657890535,
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},
"rotation": {
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},
"scale": {
"x": 4.5,
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}
}
},
{
"obj_id": "20",
"obj_type": "Car",
"psr": {
"position": {
"x": -0.7670059417760058,
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},
"rotation": {
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"z": 2.0017558148508505
}
}
},
{
"obj_id": "23",
"obj_type": "Car",
"psr": {
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"x": 15.14633855082866,
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}
}
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485
data/example/label/000970.json
Unescape Escape View File

@ -1,485 +0,0 @@
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506
data/example/label/000975.json
Unescape Escape View File

@ -1,506 +0,0 @@
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"x": -0.4326601345492236,
"y": -32.81936725268655,
"z": 0.9197633000000003
},
"rotation": {
"x": -0.06517306244786299,
"y": 0.00010959092045555565,
"z": 4.668461499912884
},
"scale": {
"x": 4.921583727079626,
"y": 1.6458116836318435,
"z": 2.0017558148508505
}
}
},
{
"obj_id": "23",
"obj_type": "Car",
"psr": {
"position": {
"x": 14.854084900533053,
"y": 36.31688425244575,
"z": -3.494144999999998
},
"rotation": {
"x": -0.06287060419300494,
"y": 0.044058144173183246,
"z": 1.6017988530736593
},
"scale": {
"x": 4.281595594230369,
"y": 1.6295165184473699,
"z": 1.7242113198564337
}
}
},
{
"obj_id": "27",
"obj_type": "Car",
"psr": {
"position": {
"x": 36.95999624850447,
"y": -19.576731641457386,
"z": -0.39999999999999997
},
"rotation": {
"x": 0,
"y": 0,
"z": 6.052388980384655
},
"scale": {
"x": 4.5,
"y": 1.8,
"z": 1.5
}
}
},
{
"obj_id": "31",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": -18.866816697627655,
"y": -22.86282125027274,
"z": 0.8500000000000002
},
"rotation": {
"x": -0.005200816595089385,
"y": 0,
"z": 1.5907963267948966
},
"scale": {
"x": 0.5129727980068935,
"y": 0.5634125150659849,
"z": 1.7
}
}
},
{
"obj_id": "50",
"obj_type": "Rider",
"psr": {
"position": {
"x": 19.040406728319795,
"y": -21.31166831033424,
"z": -0.1791146
},
"rotation": {
"x": 0,
"y": 0,
"z": 1.6039243132190473
},
"scale": {
"x": 1.797162849996143,
"y": 1.3257591556815653,
"z": 1.8592649635634135
}
}
},
{
"obj_id": "51",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": 23.278827197860664,
"y": 16.02511764426481,
"z": -2.1734700000000005
},
"rotation": {
"x": 0,
"y": 0,
"z": 4.882149425192646
},
"scale": {
"x": 0.4,
"y": 0.5,
"z": 1.7
}
}
},
{
"obj_id": "53",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": 19.721963692594727,
"y": 12.073706740754263,
"z": -1.957951600000001
},
"rotation": {
"x": 0,
"y": 0,
"z": 4.550175243538672
},
"scale": {
"x": 0.7412849208820917,
"y": 0.6806637022431177,
"z": 1.7
}
}
},
{
"obj_id": "54",
"obj_type": "Motor",
"psr": {
"position": {
"x": 23.91011734575295,
"y": 29.285895469113342,
"z": -3.1570029999999982
},
"rotation": {
"x": 0,
"y": 0,
"z": 0.11633170712167873
},
"scale": {
"x": 1.7485658990665154,
"y": 1.0208318215505217,
"z": 1.5
}
}
},
{
"obj_id": "55",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": 32.297311349146185,
"y": 0.47968242174995096,
"z": -0.9565367999999999
},
"rotation": {
"x": 0,
"y": 0,
"z": 4.37493354637721
},
"scale": {
"x": 0.5285163867593005,
"y": 0.4571699121199565,
"z": 1.7515116999999998
}
}
},
{
"obj_id": "56",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": 31.34751781797604,
"y": -2.787654273957376,
"z": -0.9473519999999997
},
"rotation": {
"x": 0,
"y": 0,
"z": 1.2405159345228731
},
"scale": {
"x": 0.4,
"y": 0.5,
"z": 1.7
}
}
},
{
"obj_id": "81",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": -8.663487089328555,
"y": 2.770711530826073,
"z": -0.7839459000000002
},
"rotation": {
"x": -0.005200816595089385,
"y": 0,
"z": 4.300758489293951
},
"scale": {
"x": 0.76374659526974,
"y": 0.7083013780156343,
"z": 1.7341699999999998
}
}
},
{
"obj_id": "82",
"obj_type": "Pedestrian",
"psr": {
"position": {
"x": -9.424296512588144,
"y": 2.881378801540134,
"z": -0.6853220949094945
},
"rotation": {
"x": -0.005200816595089385,
"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
}
}
}
]

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30
router.py
Unescape Escape View File

@ -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
)

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