parser-checkpoint.ipynb 73.3 KB
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{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "# %load parser.py\n",
    "import xml.etree.ElementTree as ET\n",
    "\n",
    "\n",
    "e = ET.parse('/Users/berniewang/annotator/lidarAnnotator/test/' \\\n",
    "                                'velodyne_points/tracklet_labels/' \\\n",
    "                                'tracklet_labels_13.xml')\n",
    "frame_number = 13"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tracklets {'class_id': '0', 'tracking_level': '0', 'version': '0'}\n"
     ]
    }
   ],
   "source": [
    "root = e.getroot()\n",
    "for child in root:\n",
    "    print(child.tag, child.attrib)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "tracklets = root[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "count {} 8\n",
      "item_version {} 1\n",
      "item {'class_id': '1', 'tracking_level': '0', 'version': '1'} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n",
      "item {} \n",
      "\t\t\n"
     ]
    }
   ],
   "source": [
    "for child in tracklets:\n",
    "    print(child.tag, child.attrib, child.text)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "objects = tracklets[2:]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "objectType {} Van\n",
      "h {} 2.0461018\n",
      "w {} 2.0204058\n",
      "l {} 5.1802263\n",
      "first_frame {} 0\n",
      "poses {'class_id': '2', 'tracking_level': '0', 'version': '0'} \n",
      "\t\t\t\n",
      "finished {} 1\n"
     ]
    }
   ],
   "source": [
    "for child in objects[0]:\n",
    "    print(child.tag, child.attrib, child.text)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "class Vehicle(object):\n",
    "    def __init__(self, xml_element):\n",
    "        poses = xml_element[5]\n",
    "        frames = poses[2:]\n",
    "        \n",
    "        self.object_type = xml_element[0].text\n",
    "        self.h = xml_element[1].text\n",
    "        self.w = xml_element[2].text\n",
    "        self.l = xml_element[3].text\n",
    "        self.first_frame = int(xml_element[4].text)\n",
    "        self.num_frames = int(poses[0].text)\n",
    "        \n",
    "        self.frames = dict(enumerate([Frame(frame) for frame in frames]))\n",
    "    \n",
    "    def get_frame(self, i):\n",
    "        return self.frames[i - self.first_frame]\n",
    "    \n",
    "class Frame(object):\n",
    "    def __init__(self, xml_element):\n",
    "        self.tx = xml_element[0].text\n",
    "        self.ty = xml_element[1].text\n",
    "        self.tz = xml_element[2].text\n",
    "        self.rx = xml_element[3].text\n",
    "        self.ry = xml_element[4].text\n",
    "        self.rz = xml_element[5].text\n",
    "        self.state = xml_element[6].text\n",
    "        self.occlusion = xml_element[7].text\n",
    "        self.occlusion_kf = xml_element[8].text\n",
    "        self.truncation = xml_element[9].text\n",
    "        self.amt_occlusion = xml_element[10].text\n",
    "        self.amt_occlusion_kf = xml_element[11].text\n",
    "        self.amt_border_l = xml_element[12].text\n",
    "        self.amt_border_r = xml_element[13].text\n",
    "        self.amt_border_kf = xml_element[14].text"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "poses = objects[0][5]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Element 'item' at 0x1111a57c8>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "objects[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "vehicle1 = Vehicle(objects[0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "ename": "KeyError",
     "evalue": "13",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyError\u001b[0m                                  Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-11-24ff59e11d79>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mvehicle1\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_frame\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m13\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtx\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;32m<ipython-input-7-bed8fbe66f7e>\u001b[0m in \u001b[0;36mget_frame\u001b[0;34m(self, i)\u001b[0m\n\u001b[1;32m     14\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     15\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mget_frame\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mi\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 16\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mframes\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mi\u001b[0m \u001b[0;34m-\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfirst_frame\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     17\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     18\u001b[0m \u001b[0;32mclass\u001b[0m \u001b[0mFrame\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobject\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mKeyError\u001b[0m: 13"
     ]
    }
   ],
   "source": [
    "vehicle1.get_frame(13).tx"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "vehicles = [Vehicle(obj) for obj in objects]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "filtered = list(filter(lambda v: v.first_frame + v.num_frames >= 13, vehicles))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1.4137063\n",
      "1.4331262\n",
      "1.4863563\n",
      "1.4813918\n",
      "1.3076155\n"
     ]
    }
   ],
   "source": [
    "for v in filtered:\n",
    "    print(v.h)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'12.079931792287182'"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "filtered[0].get_frame(13).tx"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'-2.481226668049529'"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "filtered[0].get_frame(13).ty"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "{'frames': [{'_3D_time_elapsed': 106.285,\n",
      "             'add_box_count': 16,\n",
      "             'bounding_boxes': [{'angle': 0.019634954114732168,\n",
      "                                 'center': {'x': -0.6262804043469026,\n",
      "                                            'y': 3.6750221251704978},\n",
      "                                 'length': 4.1519029922032455,\n",
      "                                 'object_id': 'car',\n",
      "                                 'width': 1.8245382609295548},\n",
      "                                {'angle': 0.019634954028782035,\n",
      "                                 'center': {'x': -6.031205958049736,\n",
      "                                            'y': 3.9625686685020325},\n",
      "                                 'length': 4.374018301146206,\n",
      "                                 'object_id': 'car',\n",
      "                                 'width': 1.864053874095845},\n",
      "                                {'angle': 0.011376800583691928,\n",
      "                                 'center': {'x': -13.699475916501422,\n",
      "                                            'y': 4.1237607025324605},\n",
      "                                 'length': 4.360366355175675,\n",
      "                                 'object_id': 'car',\n",
      "                                 'width': 1.8968821436888847},\n",
      "                                {'angle': 0.015305943823899774,\n",
      "                                 'center': {'x': -27.804248157215774,\n",
      "                                            'y': 4.241557545045095},\n",
      "                                 'length': 3.4365542556949653,\n",
      "                                 'object_id': 'car',\n",
      "                                 'width': 1.6012611762833442},\n",
      "                                {'angle': 0.044178646479224155,\n",
      "                                 'center': {'x': -35.81397474910601,\n",
      "                                            'y': 4.392210261401803},\n",
      "                                 'length': 5.57977921004368,\n",
      "                                 'object_id': 'van',\n",
      "                                 'width': 2.229447942324562},\n",
      "                                {'angle': -0.03708300204347548,\n",
      "                                 'center': {'x': -37.56942093341857,\n",
      "                                            'y': 1.7015851079769357},\n",
      "                                 'length': 3.033095922401197,\n",
      "                                 'object_id': 'car',\n",
      "                                 'width': 1.7938177510204254},\n",
      "                                {'angle': 0.004908738222350303,\n",
      "                                 'center': {'x': -7.653258729802918,\n",
      "                                            'y': -5.39569951108837},\n",
      "                                 'length': 1.8298309446694079,\n",
      "                                 'object_id': 'cyclist',\n",
      "                                 'width': 0.786373344779157},\n",
      "                                {'angle': 0.0782459400427798,\n",
      "                                 'center': {'x': -5.624354743501129,\n",
      "                                            'y': -3.88149587683896},\n",
      "                                 'length': 1.8235633523721977,\n",
      "                                 'object_id': 'cyclist',\n",
      "                                 'width': 0.636527040956217},\n",
      "                                {'angle': 0.06872233900868302,\n",
      "                                 'center': {'x': 0.8537731086663027,\n",
      "                                            'y': -4.199444900814397},\n",
      "                                 'length': 1.9014331567298726,\n",
      "                                 'object_id': 'cyclist',\n",
      "                                 'width': 0.6519193467267375},\n",
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