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comparison trafficintelligence/storage.py @ 1216:8356e15fd691

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fix for result files
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 07 May 2023 16:24:27 -0400
parents 1b472cddf9b1
children 83ca1493d55c
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1215:1b472cddf9b1 1216:8356e15fd691
1297 return calib 1297 return calib
1298 1298
1299 # from https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py 1299 # from https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py
1300 1300
1301 1301
1302 def loadTrajectoriesFromKITTI(filename, kittiCalibration, oxts): 1302 def loadTrajectoriesFromKITTI(filename, kittiCalibration, oxts, resultFile = False):
1303 '''Reads data from KITTI ground truth or output from an object detection and tracking method 1303 '''Reads data from KITTI ground truth or output from an object detection and tracking method
1304 1304
1305 kittiCalibration is obtained from loading training/testing calibration file for each sequence 00XX.txt 1305 kittiCalibration is obtained from loading training/testing calibration file for each sequence 00XX.txt
1306 oxts is obtained using utils.load_oxts_packets_and_poses(['./training/oxts/0001.txt']) from pykitti 1306 oxts is obtained using utils.load_oxts_packets_and_poses(['./training/oxts/0001.txt']) from pykitti
1307 1307
1326 'h', # box height 1326 'h', # box height
1327 'w', # box width 1327 'w', # box width
1328 'l', # box length (in meters) 1328 'l', # box length (in meters)
1329 'x', 'y', 'z', # location (x,y,z) in camera coord 1329 'x', 'y', 'z', # location (x,y,z) in camera coord
1330 'ry'] # yaw angle (around Y-axis in camera coordinates) [-pi..pi] 1330 'ry'] # yaw angle (around Y-axis in camera coordinates) [-pi..pi]
1331 if resultFile:
1332 header.append('score')
1331 data = read_csv(filename, delimiter = ' ', names = header) 1333 data = read_csv(filename, delimiter = ' ', names = header)
1332 data = data[data.trackingid > -1] 1334 data = data[data.trackingid > -1]
1333 1335
1334 objects = [] 1336 objects = []
1335 featureNum = 0 1337 featureNum = 0