"2f" is only use to debug since "30f" loads very slowly. It can sample from the "30f".

[Vendulamrdka95]

          "2f" is only use to debug since "30f" loads very slowly. It can sample from the "30f".

# ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
import pickle
from nuscenes import NuScenes
import numpy as np
from pyquaternion import Quaternion
import numpy as np
import os
import mmcv
import tqdm
import copy
sensors = ['CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_BACK_RIGHT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_FRONT_LEFT']
# info_prefix = 'train'
# info_prefix = 'val'
info_prefix = 'test'
data_root = "/data/Dataset/nuScenes/"

# info_path = os.path.join(data_root,'nuscenes_infos_30f_infos_{}.pkl'.format(info_prefix))
info_path = os.path.join(data_root,'mmdet3d_nuscenes_30f_infos_{}.pkl'.format(info_prefix))
key_infos = pickle.load(open(info_path, 'rb'))
pseudo_path = os.path.join(data_root,'mmdet3d_nuscenes_2f_infos_{}.pkl'.format(info_prefix))

pseudo_infos = []
for current_id in tqdm.tqdm(range(len(key_infos['infos']))):
    key_info = copy.deepcopy(key_infos['infos'][current_id])
    numsweep = len(key_info['sweeps'])
    if numsweep > 0:
        key_info['sweeps'] = [key_info['sweeps'][min(15, numsweep) - 1]]
    pseudo_infos.append(key_info)

key_infos['infos'] = pseudo_infos
mmcv.dump(key_infos, pseudo_path)

Originally posted by @yingfei1016 in #97 (comment)

[Vendulamrdka95]

          "2f" is only use to debug since "30f" loads very slowly. It can sample from the "30f".

# ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
import pickle
from nuscenes import NuScenes
import numpy as np
from pyquaternion import Quaternion
import numpy as np
import os
import mmcv
import tqdm
import copy
sensors = ['CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_BACK_RIGHT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_FRONT_LEFT']
# info_prefix = 'train'
# info_prefix = 'val'
info_prefix = 'test'
data_root = "/data/Dataset/nuScenes/"

# info_path = os.path.join(data_root,'nuscenes_infos_30f_infos_{}.pkl'.format(info_prefix))
info_path = os.path.join(data_root,'mmdet3d_nuscenes_30f_infos_{}.pkl'.format(info_prefix))
key_infos = pickle.load(open(info_path, 'rb'))
pseudo_path = os.path.join(data_root,'mmdet3d_nuscenes_2f_infos_{}.pkl'.format(info_prefix))

pseudo_infos = []
for current_id in tqdm.tqdm(range(len(key_infos['infos']))):
   key_info = copy.deepcopy(key_infos['infos'][current_id])
   numsweep = len(key_info['sweeps'])
   if numsweep > 0:
       key_info['sweeps'] = [key_info['sweeps'][min(15, numsweep) - 1]]
   pseudo_infos.append(key_info)

key_infos['infos'] = pseudo_infos
mmcv.dump(key_infos, pseudo_path)

Originally posted by @yingfei1016 in #97 (comment)