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# -*- coding: utf-8 -*-
-----------------------------------------------------------------------------------
# Author: Nguyen Mau Dung
# DoC: 2020.08.17
# email: nguyenmaudung93.kstn@gmail.com
-----------------------------------------------------------------------------------
# Description: This script for the KITTI dataset
    N)int)Datasetsfa)gen_hm_radiuscompute_radiusCalibrationget_filtered_lidar)
makeBEVMapdrawRotatedBoxget_corners)transformationc                   @   sf   e Zd ZdddZdd Zdd Zd	d
 Zdd Zdd Zdd Z	dd Z
dd Zdd Zdd ZdS )KittiDatasettrainNc                 C   s  |j | _ |j| _|j| _|j| _|j| _|dv s>J d||| _| jdk| _| jrZdnd}|| _|| _	t
j| j |d| _t
j| j |d| _t
j| j |d| _t
j| j |d	| _t
j| j d
d|}dd t| D | _|d ur| jd | | _t| j| _d S )N)r   valtestzInvalid mode: {}r   testingtrainingimage_2ZvelodynecalibZlabel_2Z	ImageSetsz{}.txtc                 S   s   g | ]}t | qS  )r   strip).0xr   r   Q/home/opencvuniv/work/pranav/ADAS_2_LIDAR/SFA3D/sfa/data_process/kitti_dataset.py
<listcomp>7       z)KittiDataset.__init__.<locals>.<listcomp>)dataset_dir
input_sizehm_sizenum_classesmax_objectsformatmodeis_test	lidar_aug
hflip_probospathjoin	image_dir	lidar_dir	calib_dir	label_diropen	readlinessample_id_listlennum_samples)selfconfigsr"   r$   r%   r1   Z
sub_folderZsplit_txt_pathr   r   r   __init__"   s(    
zKittiDataset.__init__c                 C   s
   t | jS N)r0   r/   )r2   r   r   r   __len__=   s    zKittiDataset.__len__c                 C   s   | j r| |S | |S d S r5   )r#   load_img_onlyload_img_with_targets)r2   indexr   r   r   __getitem__@   s    
zKittiDataset.__getitem__c                 C   sZ   t | j| }| |\}}| |}t|tj}t|tj}t	|}d|i}|||fS )z%Load only image for the testing phaseimg_path)
r   r/   	get_image	get_lidarr   cnfboundaryr	   torch
from_numpy)r2   r9   	sample_idr;   img_rgb	lidarDatabev_map	metadatasr   r   r   r7   F   s    

zKittiDataset.load_img_onlyc                 C   s&  t | j| }tj| jd|}| |}| |}| 	|\}}|rt
|ddddf |j|j|j|ddddf< | jr| ||ddddf \}|ddddf< t|tj|\}}t|tj}t|}d}	tj | jk rd}	t|dg}| ||	}
||	d}|||
fS )z=Load images and targets for the training and validation phase
{:06d}.pngN   FT)r;   hflipped)r   r/   r&   r'   r(   r)   r!   r=   	get_calib	get_labelr   camera_to_lidar_boxV2CR0P2r$   r   r>   r?   r	   r@   rA   nprandomr%   flipbuild_targets)r2   r9   rB   r;   rD   r   labels
has_labelsrE   rJ   targetsrF   r   r   r   r8   U   s*    

60
z"KittiDataset.load_img_with_targetsc                 C   s2   t j| jd|}tt|tj}||fS )NrG   )	r&   r'   r(   r)   r!   cv2cvtColorimreadCOLOR_BGR2RGB)r2   idxr;   imgr   r   r   r<   v   s    zKittiDataset.get_imagec                 C   s   t j| jd|}t|S )N
{:06d}.txt)r&   r'   r(   r+   r!   r   )r2   r\   Z
calib_filer   r   r   rK   |   s    zKittiDataset.get_calibc                 C   s.   t j| jd|}tj|tjdddS )Nz
{:06d}.bindtyperI      )	r&   r'   r(   r*   r!   rQ   fromfilefloat32reshape)r2   r\   Z
lidar_filer   r   r   r=      s    zKittiDataset.get_lidarc              	   C   sr  g }t j| jd|}t|dD ]
}| }|d}|d }tt	j
| }|dkr\q$tt|d }t|d }	t|d }
tt|d	 t|d
 t|d t|d g}t|d t|d t|d   }}}t|d t|d t|d   }}}t|d }||||||||g}|| q$t|dkrVtjdtjd}d}ntj|tjd}d}||fS )Nr^   r r   irH         ra               	   
               )rH   rl   r_   FT)r&   r'   r(   r,   r!   r-   rstripsplitr   r>   ZCLASS_NAME_TO_IDfloatrQ   arrayappendr0   zerosrc   )r2   r\   rU   Z
label_pathlineZ
line_partsobj_nameZcat_idZ	truncatedZoccludedalphaZbboxhwlr   yzZryZobject_labelrV   r   r   r   rL      s0    
2((zKittiDataset.get_labelc           &   	   C   s`  t jd }t jd }t jd }t jd }t jd }t jd }tt|| j}	| j\}
}tj| j|
|ftj	d}tj| jdftj	d}tj| jdftj	d}tj| jd	ftj	d}tj| jd
ftj	d}tj| jtj
d}tj| jtjd}t|	D ]R}|| \}}}}}}}}t|}| }||  kr4|krn q||  krN|krn q||  krj|ksnq q|dks|dks|dkrq|t j |
 }|t j | }tt|t|f}tdt|}|| t j |
 }|| t j | } tj| |gtj	d}!|r||!d  d	 |!d< |!tj}"|dk r|dkrRdd t| jD n
| d g}#|#D ]}$t||$ |"| qbd||#|"d	 |"d f< qt|| |!| |"d	 | |"d  ||< |!|" ||< |||df< |||d	f< |||df< tt|||df< tt|||d	f< |r2||df  ||df< || ||< d	||< q|||||||d}%|%S )NminXmaxXminYmaxYminZmaxZr_   rg   rH   rh   r   rI   c                 S   s   g | ]}|qS r   r   )r   _r   r   r   r      r   z.KittiDataset.build_targets.<locals>.<listcomp>gH.?)hm_cen
cen_offset	directionz_coordimindices_centerobj_mask)r>   r?   minr0   r    r   rQ   rx   r   rc   int64uint8ranger   Zbound_size_xZbound_size_yr   mathceilmaxrv   astypeint32r   sinru   cos)&r2   rU   rJ   r   r   r   r   r   r   Znum_objectsZhm_lZhm_wZhm_main_centerr   r   r   	dimensionr   r   kcls_idr   r   r   r|   r}   r~   yawZbbox_lZbbox_wradiuscenter_ycenter_xcenterZ
center_intZ
ignore_idsZcls_igrW   r   r   r   rT      sx    






N
*

zKittiDataset.build_targetsc           
      C   s   t | j| }| |\}}| |}| |}| |\}}|rxt|d d dd f |j|j	|j
|d d dd f< | jr| ||d d dd f \}|d d dd f< t|tj|\}}t|tj}	|	|||fS )NrH   )r   r/   r<   r=   rK   rL   r   rM   rN   rO   rP   r$   r   r>   r?   r	   )
r2   r9   rB   r;   rC   rD   r   rU   rV   rE   r   r   r   draw_img_with_label   s    

60z KittiDataset.draw_img_with_label)r   NNN)__name__
__module____qualname__r4   r6   r:   r7   r8   r<   rK   r=   rL   rT   r   r   r   r   r   r   !   s   
!!Yr   __main__)EasyDict)OneOfRandom_ScalingRandom_Rotationlidar_to_camera_box)merge_rgb_to_bevshow_rgb_image_with_boxesF)`  r   )   r   2   rh   r   z../../datasetkittir   g        )r"   r$   r%   r1   z9

Press n to see the next sample >>> Press Esc to quit...z.pngz.txtr   r   rH   rg      r   r   )output_widthZbev_map_outputs_z.jpgrE      )j__doc__sysr&   r   builtinsr   numpyrQ   torch.utils.datar   rX   r@   r'   dirnamerealpath__file__src_direndswithrw   data_process.kitti_data_utilsr   r   r   r   Zdata_process.kitti_bev_utilsr	   r
   r   data_processr   config.kitti_configkitti_configr>   r   ir   easydictr   edictdata_process.transformationr   r   r   r   utils.visualization_utilsr   r   r3   distributed
pin_memoryr1   r   r   r    r   r   r(   r   r$   r   printr   r0   r\   r   rE   rU   rC   r;   replacer   	transposer   r   resize
BEV_HEIGHT	BEV_WIDTH	enumerateZbox_idxr   r   r   r   r|   r}   r~   r   r?   ZDISCRETIZATIONy1x1w1l1colorsrotate
ROTATE_180rN   rO   rP   rY   COLOR_RGB2BGRout_imgfilenameimwriteimshowwaitKeyr   r   r   r   <module>   sx   


 q
 "4