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import os
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import json
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this_dir = os.path.dirname(os.path.abspath(__file__))
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root_dir = os.path.join(this_dir, "data")
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def get_all_scenes():
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all_scenes = get_scene_names()
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print(all_scenes)
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return list(map(get_one_scene, all_scenes))
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def get_all_scene_desc():
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names = get_scene_names()
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descs = {}
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for n in names:
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descs[n] = get_scene_desc(n)
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return descs
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def get_scene_names():
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scenes = os.listdir(root_dir)
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scenes = filter(lambda s: not os.path.exists(os.path.join(root_dir, s, "disable")), scenes)
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scenes = list(scenes)
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scenes.sort()
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return scenes
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def get_scene_desc(s):
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scene_dir = os.path.join(root_dir, s)
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if os.path.exists(os.path.join(scene_dir, "desc.json")):
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with open(os.path.join(scene_dir, "desc.json")) as f:
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desc = json.load(f)
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return desc
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return None
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def get_one_scene(s):
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# 获取s目录下的所有文件信息
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"""{
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"scene": "example", # 第一层的目录名
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"frames": [ # label下的文件名，即标注结果文件
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"000950",
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"000965",
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"000970",
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"000975"
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],
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"lidar_ext": ".pcd", # lidar目录下的文件类型
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"camera_ext": ".jpg", # 图片的文件类型
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"radar_ext": ".pcd", # lidar目录下的文件类型
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"aux_lidar_ext": ".pcd", # lidar目录下的文件类型
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"boxtype": "psr",
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"camera": [ # 目录下的文件夹
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"right",
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"left",
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"front"
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],
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"calib": { # 目录
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"camera": { # 目录
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"front": "json文件的内容", # 文件
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"left": "json文件的内容",
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"right": "json文件的内容"
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}
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}
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}"""
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###
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scene = {
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"scene": s,
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"frames": []
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}
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scene_dir = os.path.join(root_dir, s)
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frames = os.listdir(os.path.join(scene_dir, "lidar"))
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#print(s, frames)
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frames.sort()
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scene["lidar_ext"]="pcd"
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for f in frames:
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#if os.path.isfile("./data/"+s+"/lidar/"+f):
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filename, fileext = os.path.splitext(f)
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scene["frames"].append(filename)
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scene["lidar_ext"] = fileext
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# point_transform_matrix=[]
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# if os.path.isfile(os.path.join(scene_dir, "point_transform.txt")):
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# with open(os.path.join(scene_dir, "point_transform.txt")) as f:
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# point_transform_matrix=f.read()
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# point_transform_matrix = point_transform_matrix.split(",")
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if os.path.exists(os.path.join(scene_dir, "desc.json")):
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with open(os.path.join(scene_dir, "desc.json")) as f:
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desc = json.load(f)
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scene["desc"] = desc
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calib = {}
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calib_camera={}
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calib_radar={}
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calib_aux_lidar = {}
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if os.path.exists(os.path.join(scene_dir, "calib")):
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if os.path.exists(os.path.join(scene_dir, "calib","camera")):
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calibs = os.listdir(os.path.join(scene_dir, "calib", "camera"))
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for c in calibs:
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calib_file = os.path.join(scene_dir, "calib", "camera", c)
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calib_name, ext = os.path.splitext(c)
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if os.path.isfile(calib_file) and ext==".json":
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#print(calib_file)
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with open(calib_file) as f:
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cal = json.load(f)
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calib_camera[calib_name] = cal
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if os.path.exists(os.path.join(scene_dir, "calib", "radar")):
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calibs = os.listdir(os.path.join(scene_dir, "calib", "radar"))
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for c in calibs:
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calib_file = os.path.join(scene_dir, "calib", "radar", c)
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calib_name, _ = os.path.splitext(c)
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if os.path.isfile(calib_file):
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#print(calib_file)
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with open(calib_file) as f:
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cal = json.load(f)
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calib_radar[calib_name] = cal
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if os.path.exists(os.path.join(scene_dir, "calib", "aux_lidar")):
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calibs = os.listdir(os.path.join(scene_dir, "calib", "aux_lidar"))
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for c in calibs:
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calib_file = os.path.join(scene_dir, "calib", "aux_lidar", c)
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calib_name, _ = os.path.splitext(c)
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if os.path.isfile(calib_file):
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#print(calib_file)
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with open(calib_file) as f:
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cal = json.load(f)
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calib_aux_lidar[calib_name] = cal
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# camera names
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camera = []
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camera_ext = ""
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cam_path = os.path.join(scene_dir, "camera")
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if os.path.exists(cam_path):
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cams = os.listdir(cam_path)
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for c in cams:
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cam_file = os.path.join(scene_dir, "camera", c)
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if os.path.isdir(cam_file):
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camera.append(c)
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if camera_ext == "":
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#detect camera file ext
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files = os.listdir(cam_file)
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if len(files)>=2:
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_,camera_ext = os.path.splitext(files[0])
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if camera_ext == "":
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camera_ext = ".jpg"
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scene["camera_ext"] = camera_ext
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# radar names
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radar = []
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radar_ext = ""
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radar_path = os.path.join(scene_dir, "radar")
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if os.path.exists(radar_path):
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radars = os.listdir(radar_path)
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for r in radars:
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radar_file = os.path.join(scene_dir, "radar", r)
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if os.path.isdir(radar_file):
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radar.append(r)
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if radar_ext == "":
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#detect camera file ext
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files = os.listdir(radar_file)
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if len(files)>=2:
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_,radar_ext = os.path.splitext(files[0])
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if radar_ext == "":
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radar_ext = ".pcd"
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scene["radar_ext"] = radar_ext
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# aux lidar names
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aux_lidar = []
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aux_lidar_ext = ""
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aux_lidar_path = os.path.join(scene_dir, "aux_lidar")
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if os.path.exists(aux_lidar_path):
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lidars = os.listdir(aux_lidar_path)
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for r in lidars:
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lidar_file = os.path.join(scene_dir, "aux_lidar", r)
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if os.path.isdir(lidar_file):
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aux_lidar.append(r)
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if radar_ext == "":
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#detect camera file ext
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files = os.listdir(radar_file)
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if len(files)>=2:
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_,aux_lidar_ext = os.path.splitext(files[0])
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if aux_lidar_ext == "":
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aux_lidar_ext = ".pcd"
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scene["aux_lidar_ext"] = aux_lidar_ext
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# # ego_pose
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# ego_pose= {}
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# ego_pose_path = os.path.join(scene_dir, "ego_pose")
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# if os.path.exists(ego_pose_path):
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# poses = os.listdir(ego_pose_path)
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# for p in poses:
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# p_file = os.path.join(ego_pose_path, p)
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# with open(p_file) as f:
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# pose = json.load(f)
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# ego_pose[os.path.splitext(p)[0]] = pose
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if True: #not os.path.isdir(os.path.join(scene_dir, "bbox.xyz")):
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scene["boxtype"] = "psr"
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# if point_transform_matrix:
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# scene["point_transform_matrix"] = point_transform_matrix
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if camera:
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scene["camera"] = camera
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if radar:
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scene["radar"] = radar
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if aux_lidar:
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scene["aux_lidar"] = aux_lidar
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if calib_camera:
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calib["camera"] = calib_camera
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if calib_radar:
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calib["radar"] = calib_radar
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if calib_aux_lidar:
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calib["aux_lidar"] = calib_aux_lidar
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# if ego_pose:
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# scene["ego_pose"] = ego_pose
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# else:
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# scene["boxtype"] = "xyz"
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# if point_transform_matrix:
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# scene["point_transform_matrix"] = point_transform_matrix
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# if camera:
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# scene["camera"] = camera
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# if radar:
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# scene["radar"] = radar
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# if calib_camera:
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# calib["camera"] = calib_camera
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# if calib_radar:
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# calib["radar"] = calib_radar
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# if calib_aux_lidar:
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# calib["aux_lidar"] = calib_aux_lidar
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scene["calib"] = calib
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return scene
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def read_annotations(scene, frame):
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filename = os.path.join(root_dir, scene, "label", frame+".json")
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if (os.path.isfile(filename)):
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with open(filename,"r") as f:
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ann=json.load(f)
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#print(ann)
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return ann
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else:
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return []
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def read_ego_pose(scene, frame):
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filename = os.path.join(root_dir, scene, "ego_pose", frame+".json")
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if (os.path.isfile(filename)):
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with open(filename,"r") as f:
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p=json.load(f)
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return p
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else:
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return None
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def save_annotations(scene, frame, anno):
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filename = os.path.join(root_dir, scene, "label", frame+".json")
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with open(filename, 'w') as outfile:
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json.dump(anno, outfile)
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if __name__ == "__main__":
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print(get_all_scenes()) |