| import os |
| import sys |
| import math |
| import itertools |
| import numpy as np |
| import tensorflow as tf |
|
|
| from PIL import Image |
| from argparse import ArgumentParser as AP |
| from waymo_open_dataset.utils import range_image_utils |
| from waymo_open_dataset.utils import transform_utils |
| from waymo_open_dataset.utils import frame_utils |
| from waymo_open_dataset import dataset_pb2 as open_dataset |
|
|
| def printProgressBar(i, max, postText): |
| n_bar = 20 |
| j= i/max |
| sys.stdout.write('\r') |
| sys.stdout.write(f"[{'=' * int(n_bar * j):{n_bar}s}] {int(100 * j)}% {postText}") |
| sys.stdout.flush() |
|
|
|
|
| def main(cmdline_opt): |
| DS_PATH = cmdline_opt.load_path |
| files = os.listdir(DS_PATH) |
| files = [os.path.join(DS_PATH,x) for x in files] |
| |
| with open('sunny_sequences.txt') as file: |
| sunny_sequences = file.read().splitlines() |
|
|
| for index_file, file in enumerate(files): |
| if not os.path.basename(file).split('_with_camera_labels.tfrecord')[0] in sunny_sequences: |
| continue |
| dataset = tf.data.TFRecordDataset(file, compression_type='') |
| printProgressBar(index_file, len(files), "Files done") |
|
|
| for index_data, data in enumerate(dataset): |
| frame = open_dataset.Frame() |
| frame.ParseFromString(bytearray(data.numpy())) |
|
|
| if frame.context.stats.weather == 'sunny': |
| (range_images, camera_projections, range_image_top_pose) = frame_utils.parse_range_image_and_camera_projection(frame) |
|
|
| for label in frame.camera_labels: |
| if label.name == open_dataset.CameraName.FRONT: |
| path = os.path.join(cmdline_opt.save_path, |
| frame.context.stats.weather, |
| frame.context.stats.time_of_day, |
| '{}-{:06}.png'.format(os.path.basename(file), index_data)) |
|
|
| im = tf.image.decode_png(frame.images[0].image) |
| pil_im = Image.fromarray(im.numpy()) |
| res_img = pil_im.resize((480, 320), Image.BILINEAR) |
| os.makedirs(os.path.dirname(path), exist_ok=True) |
| res_img.save(path) |
| else: |
| break |
|
|
| if __name__ == '__main__': |
| ap = AP() |
| ap.add_argument('--load_path', default='/datasets_master/waymo_open_dataset_v_1_2_0/validation', type=str, help='Set a path to load the Waymo dataset') |
| ap.add_argument('--save_path', default='/datasets_local/datasets_fpizzati/waymo_480x320/val', type=str, help='Set a path to save the dataset') |
| main(ap.parse_args()) |
|
|
