fix the orientation issue in script/dair2kitti.py

ADLab-AutoDrive · Apr 11, 2023 · fa3bf88 · fa3bf88
1 parent f1b239f
commit fa3bf88
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/scripts/data_converter/gen_kitti/label_json2kitti.py b/scripts/data_converter/gen_kitti/label_json2kitti.py
@@ -1,4 +1,5 @@
 import os
+import numpy as np
 from .utils import mkdir_p, read_json, get_files_path
 
 
@@ -16,10 +17,10 @@ def write_kitti_in_txt(my_json, path_txt):
             str(item["2d_box"]["ymax"]),
         )
         # i9, i10, i11 = str(item["3d_dimensions"]["h"]), str(item["3d_dimensions"]["w"]), str(item["3d_dimensions"]["l"])
-        i9, i11, i10 = str(item["3d_dimensions"]["h"]), str(item["3d_dimensions"]["w"]), str(item["3d_dimensions"]["l"])
+        i9, i11, i10 = str(item["3d_dimensions"]["h"]), str(item["3d_dimensions"]["l"]), str(item["3d_dimensions"]["w"])
         i12, i13, i14 = str(item["3d_location"]["x"]), str(item["3d_location"]["y"]), str(item["3d_location"]["z"])
         # i15 = str(item["rotation"])
-        i15 = str(-eval(item["rotation"]))
+        i15 = str(-0.5 * np.pi  - float(item["rotation"]))
         item_list = [i1, i2, i3, i4, i5, i6, i7, i8, i9, i10, i11, i12, i13, i14, i15]
         item_string = " ".join(item_list) + "\n"
         wf.write(item_string)

diff --git a/scripts/data_converter/visual_tools.py b/scripts/data_converter/visual_tools.py
@@ -17,7 +17,12 @@ def kitti_visual_tool(data_root, demo_dir):
     for image_file in os.listdir(image_path):
         image_ids.append(image_file.split(".")[0])
     for i in range(len(image_ids)):
-        image_2_file = os.path.join(image_path, str(image_ids[i]) + ".png")
+        if os.path.exists(os.path.join(image_path, str(image_ids[i]) + ".png")):
+            image_2_file = os.path.join(image_path, str(image_ids[i]) + ".png")
+        elif os.path.exists(os.path.join(image_path, str(image_ids[i]) + ".jpg")):
+            image_2_file = os.path.join(image_path, str(image_ids[i]) + ".jpg")
+        else:
+            print("Error: image file not found.")
         calib_file = os.path.join(calib_path, str(image_ids[i]) + ".txt")
         label_2_file = os.path.join(label_path, str(image_ids[i]) + ".txt")
         image = cv2.imread(image_2_file)

diff --git a/scripts/data_converter/visual_utils.py b/scripts/data_converter/visual_utils.py
@@ -92,6 +92,7 @@ def draw_3d_box_on_image(image, label_2_file, P2, denorm, c=(0, 255, 0)):
       for line in f.readlines():
           line_list = line.split('\n')[0].split(' ')
           object_type = line_list[0]
+          if object_type not in color_map.keys(): continue
           dim = np.array(line_list[8:11]).astype(float)
           location = np.array(line_list[11:14]).astype(float)
           rotation_y = float(line_list[14])