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🗺Supporting different coordinate systems when exporting data to the KITTI format #1

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🗺Supporting different coordinate systems when exporting data to the KITTI format #1

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35 changes: 26 additions & 9 deletions eval/convert_annotations_to_kitti.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,7 @@
"""Converts dynamic object annotations to KITTI format."""
import os, sys
sys.path.append(os.path.join(os.path.dirname(__file__), "../"))

import argparse
import glob
import json
Expand Down Expand Up @@ -120,35 +123,49 @@ def _lidar_to_camera(objects, calib):
return objects


def convert_annotation(calib_path, src_anno_pth, target_path):
def convert_annotation(calib_path, src_anno_pth, target_path, target_coordinate_system):
with open(src_anno_pth) as anno_file:
src_anno = json.load(anno_file)
vehicle, camera_name, time_str, id_ = basename(src_anno_pth.strip(".json")).split("_")
id_ = int(id_)
objects = ObjectAnnotationHandler.from_annotations(src_anno)
objects = [obj[2] for obj in objects]

# Convert objects from LIDAR to camera using calibration information
frame_time = datetime.strptime(time_str, TIME_FORMAT)
calib = load_calib_from_json(calib_path, vehicle, frame_time, camera_name)
objects = _lidar_to_camera(objects, calib)
# Write a KITTI-style annotation with obj in camera frame
target_anno = _convert_to_kitti(objects, yaw_func=lambda rot: -rot.yaw_pitch_roll[0])
if target_coordinate_system == "kitti_camera":
# Convert objects from LIDAR to camera using calibration information
frame_time = datetime.strptime(time_str, TIME_FORMAT)
calib = load_calib_from_json(calib_path, vehicle, frame_time, camera_name)
objects = _lidar_to_camera(objects, calib)
# Write a KITTI-style annotation with obj in camera frame
target_anno = _convert_to_kitti(objects, yaw_func=lambda rot: -rot.yaw_pitch_roll[0])
elif target_coordinate_system == "zenseact_lidar":
# Write a KITTI-style annotation with obj still in the original frame
target_anno = _convert_to_kitti(objects, yaw_func=lambda rot: rot.yaw_pitch_roll[0])
else:
raise ValueError("Unknown coordinate system " + target_coordinate_system)
with open(join(target_path, f"{id_:06d}.txt"), "w") as target_file:
target_file.write("\n".join(target_anno))


def _parse_args():
parser = argparse.ArgumentParser(description="Convert annotations to KITTI format")
parser.add_argument("--dataset-dir", required=True, help="Root dataset directory")
parser.add_argument("--dataset-dir", required=True, help="Root dataset directory. Assumed to contain json files with label-coordinates in the zenseact lidar coordinate system")
parser.add_argument("--target-dir", required=True, help="Output directory")
parser.add_argument("--target_coordinate_system", required=True, help="What coordinate system to convert files to")
return parser.parse_args()


def main():
args = _parse_args()
calib_path = join(args.dataset_dir, "calibration")
source_path = join(args.dataset_dir, "annotations", "dynamic_objects")

target_coordinate_system = args.target_coordinate_system
if target_coordinate_system not in ["zenseact_lidar", "kitti_camera"]:
raise ValueError("Unknown coordinate system " + target_coordinate_system)

print("WARNING: CONVERTING FROM ZENSEACT LIDAR COORDINATE FRAME TO", target_coordinate_system)

assert args.dataset_dir not in args.target_dir, "Do not write to the dataset"

print("Looking up all source annotations...")
Expand All @@ -159,7 +176,7 @@ def main():

for src_anno_pth in tqdm(source_anno_paths, desc="Converting annotations..."):
try:
convert_annotation(calib_path, src_anno_pth, args.target_dir)
convert_annotation(calib_path, src_anno_pth, args.target_dir, target_coordinate_system)
except Exception as err:
print("Failed converting annotation: ", src_anno_pth, "with error:", str(err))
raise
Expand Down