init commit of trajectoryformer #7
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poodarchu
reviewed
Aug 18, 2023
efg/data/augmentations3d.py
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do not include ad-hoc in library.
the key "pred" / "future" are specific terms in your impl, so keep these modifications in the experiment directory.
| annos = ref_obj["objects"] | ||
| num_points_in_gt = np.array([ann["num_points"] for ann in annos]) | ||
| gt_boxes = np.array([ann["box"] for ann in annos]).reshape(-1, 9) | ||
| difficulty = np.array([ann["detection_difficulty_level"] for ann in annos]) | ||
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| gt_ids = np.array([ann["name"] for ann in annos]) | ||
| gt_names = np.array([TYPE_LIST[ann["label"]] for ann in annos]) |
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Is gt_ids and gt_names the same?
| "sweeps": [], | ||
| "frame_time": int(ref_obj['frame_name'].split("_")[-1]), | ||
| "context_name": ref_obj['scene_name'] |
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make the key name the same as items in ref_obj?
| gt_names = np.array([TYPE_LIST[ann["label"]] for ann in annos]) | ||
| mask_not_zero = (num_points_in_gt > 0).reshape(-1) | ||
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| # filter boxes without lidar points | ||
| annos_dict = {} | ||
| annos_dict["gt_boxes"] = gt_boxes[mask_not_zero, :].astype(np.float32) | ||
| annos_dict["gt_names"] = gt_names[mask_not_zero].astype(str) | ||
| annos_dict["gt_ids"] = gt_ids[mask_not_zero] |
| "gt_names": None, | ||
| "difficulty": None, | ||
| "name": None, | ||
| "num_points_in_gt": None | ||
| } |
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gt_boxes, gt_names, diffuculty, num_points_in_gt should be put in an "annotations" dict same as key-frame.
L178 has saved gt_boxes as annotations, why put them here again?
poodarchu
approved these changes
Aug 22, 2023
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