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comparison trafficintelligence/storage.py @ 1207:36f0d18e1fad

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work in progress on loading kitti (issue with int)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Apr 2023 18:33:29 -0400
parents 3905b393ade0
children af329f3330ba
comparison
equal deleted inserted replaced
1205:3905b393ade0 1207:36f0d18e1fad
1311 invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3))) 1311 invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3)))
1312 transCam2Velo = transpose(kittiCalibration['Tr_cam_velo']) 1312 transCam2Velo = transpose(kittiCalibration['Tr_cam_velo'])
1313 1313
1314 header = ['frame', # 0, 1, ..., n 1314 header = ['frame', # 0, 1, ..., n
1315 'trackingid', # -1, 0 , 1, ..., k 1315 'trackingid', # -1, 0 , 1, ..., k
1316 'type', # 'Car', 'Pedestrian', ... 1316 'usertype', # 'Car', 'Pedestrian', ...
1317 'truncation', # truncated pixel ratio [0..1] 1317 'truncation', # truncated pixel ratio [0..1]
1318 'occlusion', # 0=visible, 1=partly occluded, 2=fully occluded, 3=unknown 1318 'occlusion', # 0=visible, 1=partly occluded, 2=fully occluded, 3=unknown
1319 'alpha', # object observation angle [-pi..pi] 1319 'alpha', # object observation angle [-pi..pi]
1320 # extract 2d bounding box in 0-based coordinates 1320 # extract 2d bounding box in 0-based coordinates
1321 'xmin', # left 1321 'xmin', # left
1379 yCoords = worldCorners[:4,1] 1379 yCoords = worldCorners[:4,1]
1380 t.addPositionXY(xCoords.mean(), yCoords.mean()) 1380 t.addPositionXY(xCoords.mean(), yCoords.mean())
1381 for i in range(4): 1381 for i in range(4):
1382 featureTrajectories[i].addPositionXY(xCoords[i], yCoords[i]) 1382 featureTrajectories[i].addPositionXY(xCoords[i], yCoords[i])
1383 # check https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c 1383 # check https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c
1384 newObj = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max())), positions = t, userType = tmp.iloc[0].type, features = [moving.MovingObject(num = featureNum+i, timeInterval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max())), positions = featureTrajectories[i]) for i in range(4)]) 1384
1385 newObj = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max())), positions = t, velocities = t.differentiate(True), userType = tmp.iloc[0].usertype, features = [moving.MovingObject(num = featureNum+i, timeInterval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max())), positions = featureTrajectories[i], velocities = featureTrajectories[i].differentiate(True)) for i in range(4)])
1385 objects.append(newObj) 1386 objects.append(newObj)
1386 featureNum += 4 1387 featureNum += 4
1387 return objects 1388 return objects
1388 1389
1389 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): 1390 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0):