KITTI数据集提取行人label

KITTI数据集提取行人label，同时将人的朝向转换到360范围（0,2π）。

 

 

def get_person(label_path, new_annotation_path, debug_show_box=None):
    label_files = os.listdir(label_path)
    new_fd = open(new_annotation_path, "w")
    index = 0
    for one in label_files:
        file_path = os.path.join(label_path, one)
        one_label = []
        with open(file_path) as fd:
            image_file_name = one.replace(".txt", ".png")
            # one_label.append(str(index))
            one_label.append(image_file_name)
            # one_label.append("1242")
            # one_label.append("375")
            for line in fd:
                list_line = line.strip().split(" ")
                if list_line[0] == "Pedestrian" and int(list_line[2]) <= 1:
                    # one_label.extend(list_line[1:3])
                    one_box = []
                    one_box.extend(list_line[4:8])
                    angle = float(list_line[-1])
                    if angle < 0.:
                        angle = -angle
                    else:
                        angle = 2*np.pi - angle
                    one_box.append(str(round(angle, 2)))
                    one_box.append("0")

                    one_label.append(",".join(one_box))
        if len(one_label) > 4:
            index += 1
            new_fd.write(" ".join(one_label) + "\n")
            print(one_label)
        one_label.clear()
    new_fd.close()

get_person(r"F:\datasets\kitti\training\label_2",
               "./annotation.txt"
               )