Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | """Shared pytest fixtures: builds a minimal fake KITTI raw date/drive tree.""" | |
| from __future__ import annotations | |
| from pathlib import Path | |
| import numpy as np | |
| import pytest | |
| from PIL import Image | |
| IMAGE_SIZE = (32, 32) # (width, height) | |
| def make_fake_kitti_date( | |
| date_dir: Path, | |
| drive: str = "0001", | |
| num_frames: int = 4, | |
| baseline_shift_units: float = -40.0, | |
| focal_length: float = 700.0, | |
| ) -> Path: | |
| """Builds a minimal fake KITTI raw <date>/ directory: per-date calib files + one drive. | |
| `baseline_shift_units` is P_rect_02[0, 3] in KITTI's raw projection-matrix | |
| units (not meters) -- nonzero by default so tests can catch a dropped | |
| stereo-baseline correction (see kitti_calib.py's docstring). Passing 0.0 | |
| reproduces the (buggy, cam0-only-correct) behavior for comparison tests. | |
| """ | |
| date_dir.mkdir(parents=True, exist_ok=True) | |
| drive_name = f"{date_dir.name}_drive_{drive}_sync" | |
| drive_dir = date_dir / drive_name | |
| image_dir = drive_dir / "image_02" / "data" | |
| lidar_dir = drive_dir / "velodyne_points" / "data" | |
| image_dir.mkdir(parents=True, exist_ok=True) | |
| lidar_dir.mkdir(parents=True, exist_ok=True) | |
| rng = np.random.default_rng(0) | |
| width, height = IMAGE_SIZE | |
| for frame in range(num_frames): | |
| image = rng.integers(0, 255, size=(height, width, 3), dtype=np.uint8) | |
| Image.fromarray(image).save(image_dir / f"{frame:010d}.png") | |
| num_points = 32 | |
| points = rng.uniform(-5.0, 5.0, size=(num_points, 3)).astype(np.float32) | |
| points[:, 2] = rng.uniform(2.0, 20.0, size=num_points).astype(np.float32) # plausible forward depth | |
| reflectance = rng.uniform(0.0, 1.0, size=(num_points, 1)).astype(np.float32) | |
| scan = np.concatenate([points, reflectance], axis=1) | |
| scan.tofile(lidar_dir / f"{frame:010d}.bin") | |
| (date_dir / "calib_imu_to_velo.txt").write_text( | |
| "calib_time: 15-Mar-2012 11:37:16\n" | |
| "R: 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0\n" | |
| "T: 0.8 0.0 0.3\n" | |
| ) | |
| (date_dir / "calib_velo_to_cam.txt").write_text( | |
| "calib_time: 15-Mar-2012 11:37:16\n" | |
| "R: 7.533745e-03 -9.999714e-01 -6.166020e-04 " | |
| "1.480249e-02 7.280733e-04 -9.998902e-01 " | |
| "9.998621e-01 7.523790e-03 1.480755e-02\n" | |
| "T: -4.069766e-03 -7.631618e-02 -2.717806e-01\n" | |
| ) | |
| p_rect_00 = f"{focal_length} 0.0 16.0 0.0 0.0 {focal_length} 16.0 0.0 0.0 0.0 1.0 0.0" | |
| p_rect_02 = f"{focal_length} 0.0 16.0 {baseline_shift_units} 0.0 {focal_length} 16.0 0.0 0.0 0.0 1.0 0.0" | |
| (date_dir / "calib_cam_to_cam.txt").write_text( | |
| "calib_time: 15-Mar-2012 11:37:16\n" | |
| "R_rect_00: 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0\n" | |
| f"S_rect_00: {float(width)} {float(height)}\n" | |
| f"P_rect_00: {p_rect_00}\n" | |
| f"S_rect_02: {float(width)} {float(height)}\n" | |
| f"P_rect_02: {p_rect_02}\n" | |
| ) | |
| return date_dir | |
| def fake_kitti_root(tmp_path: Path) -> Path: | |
| """A fake KITTI raw root with one date (`2011_09_30`) and one drive (`0016`), 4 frames.""" | |
| make_fake_kitti_date(tmp_path / "2011_09_30", drive="0016", num_frames=4) | |
| return tmp_path | |