| import argparse |
| from os import path as osp |
| import sys |
| from data_converter import e2e_nusc as nuscenes_converter |
| sys.path.append('.') |
|
|
|
|
| def nuscenes_data_prep(root_path, |
| can_bus_root_path, |
| info_prefix, |
| version, |
| dataset_name, |
| out_dir, |
| max_sweeps=10): |
| """Prepare data related to nuScenes dataset. |
| |
| Related data consists of '.pkl' files recording basic infos, |
| 2D annotations and groundtruth database. |
| |
| Args: |
| root_path (str): Path of dataset root. |
| info_prefix (str): The prefix of info filenames. |
| version (str): Dataset version. |
| dataset_name (str): The dataset class name. |
| out_dir (str): Output directory of the groundtruth database info. |
| max_sweeps (int): Number of input consecutive frames. Default: 10 |
| """ |
| nuscenes_converter.create_nuscenes_infos( |
| root_path, out_dir, can_bus_root_path, info_prefix, version=version, max_sweeps=max_sweeps) |
|
|
| if version == 'v1.0-test': |
| info_test_path = osp.join( |
| out_dir, f'{info_prefix}_infos_temporal_test.pkl') |
| nuscenes_converter.export_2d_annotation( |
| root_path, info_test_path, version=version) |
| else: |
| info_train_path = osp.join( |
| out_dir, f'{info_prefix}_infos_temporal_train.pkl') |
| info_val_path = osp.join( |
| out_dir, f'{info_prefix}_infos_temporal_val.pkl') |
| nuscenes_converter.export_2d_annotation( |
| root_path, info_train_path, version=version) |
| nuscenes_converter.export_2d_annotation( |
| root_path, info_val_path, version=version) |
|
|
|
|
| parser = argparse.ArgumentParser(description='Data converter arg parser') |
| parser.add_argument('dataset', metavar='kitti', help='name of the dataset') |
| parser.add_argument( |
| '--root-path', |
| type=str, |
| default='./data/kitti', |
| help='specify the root path of dataset') |
| parser.add_argument( |
| '--canbus', |
| type=str, |
| default='./data', |
| help='specify the root path of nuScenes canbus') |
| parser.add_argument( |
| '--version', |
| type=str, |
| default='v1.0', |
| required=False, |
| help='specify the dataset version, no need for kitti') |
| parser.add_argument( |
| '--max-sweeps', |
| type=int, |
| default=10, |
| required=False, |
| help='specify sweeps of lidar per example') |
| parser.add_argument( |
| '--out-dir', |
| type=str, |
| default='./data/kitti', |
| required='False', |
| help='name of info pkl') |
| parser.add_argument('--extra-tag', type=str, default='kitti') |
| parser.add_argument( |
| '--workers', type=int, default=4, help='number of threads to be used') |
| args = parser.parse_args() |
|
|
| if __name__ == '__main__': |
| if args.dataset == 'nuscenes' and args.version != 'v1.0-mini': |
| train_version = f'{args.version}-trainval' |
| nuscenes_data_prep( |
| root_path=args.root_path, |
| can_bus_root_path=args.canbus, |
| info_prefix=args.extra_tag, |
| version=train_version, |
| dataset_name='NuScenesDataset', |
| out_dir=args.out_dir, |
| max_sweeps=args.max_sweeps) |
| test_version = f'{args.version}-test' |
| nuscenes_data_prep( |
| root_path=args.root_path, |
| can_bus_root_path=args.canbus, |
| info_prefix=args.extra_tag, |
| version=test_version, |
| dataset_name='NuScenesDataset', |
| out_dir=args.out_dir, |
| max_sweeps=args.max_sweeps) |
| elif args.dataset == 'nuscenes' and args.version == 'v1.0-mini': |
| train_version = f'{args.version}' |
| nuscenes_data_prep( |
| root_path=args.root_path, |
| can_bus_root_path=args.canbus, |
| info_prefix=args.extra_tag, |
| version=train_version, |
| dataset_name='NuScenesDataset', |
| out_dir=args.out_dir, |
| max_sweeps=args.max_sweeps) |
