695 lines
28 KiB
Python
695 lines
28 KiB
Python
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import requests
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import json,glob
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import os
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import tarfile
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import av
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import io
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import cv2
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import numpy as np
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import pandas as pd
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from typing import Dict, List, Any
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from enum import IntEnum
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from datetime import datetime, timezone, timedelta
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import multiprocessing
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from multiprocessing import Pool
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from dotenv import load_dotenv
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load_dotenv()
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from pdcl_dss import DSSClient, Raw, Group, Clip
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from pdcl_pyclip.reader import ClipReader
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from pdcl_pyclip.msg_camera import VideoMessage
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from pdcl_pyclip.decoder_struct import StructDecoder
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from pdcl_pyclip.decoder_protobuf import ProtobufDecoder
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os.environ['STS_UID'] = 'dis-uploader'
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os.environ['STS_SECRET_KEY'] = '277310cc09724d315514a79701fecb0f'
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client = DSSClient()
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GET_JSON_BY_UKEY_API_URL = (
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"https://d.minieye.tech/dis-api/dashboard/calib-file-manage/json-files-by-ukey"
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)
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BEIJING_TZ = timezone(timedelta(hours=8))
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det_cls_map = { 'kVehicle':0,
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'kPed':1,
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'kBike':2,
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'kCyclist':3,
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'kCone':4,
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'kRoadBarrier':4,
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'kPedHead':5,
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'kSmallTrafficSign': 6,
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'kWarningTriangle' :6,
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'kBigTrafficSign':7,
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'kVehiclePlate' :8,
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'kVehicleWheel':9,
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'kTrafficLight':10,
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'kTrafficLightBulb' :11,
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'kTrafficLightDigit':12
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}
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posecls = {
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'kInvalid' : 0, # 背景
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'kLeftTail' : 1 , # 左侧同向车
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'kMidTail' : 2, # 中间同向车
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'kRightTail' : 3, # 右侧同向车
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'kLeftHead' : 4, # 左侧对向车
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'kMidHead' : 5, # 中间对向车
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'kRightHead' : 6, # 右侧对向车
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'kLeftSide' : 7, # 朝左横向车
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'kRightSide' : 8, # 朝右横向车
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'kLeftCutIn' : 9, # 左侧切入
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'kRightCutIn' : 10, # 右侧切入
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'kLeftCutOut' : 11, # 左侧切出
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'kRightCutOut' : 12, # 右侧切出
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'kOccluded' : 13, # 车头遮挡/车尾遮挡/横向遮挡 (deprecated)
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'kSide' : 14, # 横向车(不知道朝左，还是朝右)
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'kOccludedTail' : 15, # 车尾遮挡
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'kOccludedHead' : 16, # 车头遮挡
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'kOccludedSide' : 17, # 横向遮挡
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'kUnknownPose' : 20 # unknown pose
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}
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subcls = {
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'kNegative' : 0, # 背景
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'kBus' : 1, # 大巴
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'kCar' : 2, # 小轿车,suv
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'kMiniBus' : 3, # 面包车
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'kBucketTruck' : 4, # 斗卡
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'kContainerTruck' : 5, # 箱卡
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'kTricycle' : 6, # 三轮车
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'kTanker' : 7, # 油罐车,晒水车（车身带有圆形,椭圆形,半圆形的罐）
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'kCementTankTruck' : 8, # 水泥罐车
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'kPickup' : 9, # 皮卡
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'kSedimentTruck' : 10, # 渣土车
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'kIveco' : 11, # 依维柯
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'kSpecialCar' : 12, # 异型车
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'kCityAuto' : 13, # 市政车
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'kVehicleUnknown' : 14, # 未知车辆
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'kWrecker' : 15, # 小型拖车，清障车
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'kFlatTransporter' : 16,# 大型平板拖车
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'kTractorHead' : 17, # 卡车车头,牵引车车头
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'kSpecialFlatTransporter' : 18, # 大型特种拖车（相对于大型平板拖车会多挡板）
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'kCarCarrier' : 19, # 轿运车
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# 盖布车（车身上的货物全部被布盖着，同时对车辆尾部进行了遮挡）
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'kTruckWithTrap' : 20,
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'kEngineeringVehicle' : 21, # 工程车
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'kSweeper' : 22, # 扫地车
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'kRoadServiceCar' : 23, # 道路维修车
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'kSanitationTruck' : 24, # 环卫车
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'kGarbageTruck' : 25, # 垃圾车
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}
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def timestamp_to_ymd(timestamp_ms: int) -> str:
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"""
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将毫秒时间戳转换为北京时间 YYYYMMDD 格式
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例如：1712345678900 -> '20250406'
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"""
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try:
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timestamp_s = timestamp_ms / 1000
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utc_time = datetime.fromtimestamp(timestamp_s, tz=timezone.utc)
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beijing_time = utc_time.astimezone(BEIJING_TZ)
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return beijing_time.strftime('%Y%m%d%H%M%S')
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except Exception as e:
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raise ValueError(f"无效毫秒时间戳 {timestamp_ms!r}: {e}") from e
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def exist_product_in_group(group_meta, product_type):
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'''
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判断group是否存在某种真值产物
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'''
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if group_meta['failReason'] == '' and group_meta['products'] is not None:
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with Group(group_meta['id']) as group:
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if group.get_product(product_type) is not None:
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return True
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return False
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def plane_to_ndarray(plane):
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"""
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将 VideoPlane 对象转换为 NumPy 数组
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"""
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# 获取平面的步长（stride）和行数
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stride = plane.line_size
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height = plane.height
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width = plane.width
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# 根据步长创建数组
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# 如果步长等于宽度，可以直接重塑
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if stride == width:
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array = np.frombuffer(plane, dtype=np.uint8).reshape(height, width)
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else:
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# 如果步长不等于宽度，需要处理填充字节
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array = np.frombuffer(plane, dtype=np.uint8)
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# 取每行的前width个字节
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array = array.reshape(height, stride)[:, :width]
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return array
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def yuvj420p_to_nv12(y_plane, u_plane, v_plane):
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"""
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将 YUVJ420P（3个平面）转换为 NV12（2个平面）格式。
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参数:
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y_plane (np.ndarray): 亮度Y平面，形状为 (height, width), dtype=uint8
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u_plane (np.ndarray): 色度U平面，形状为 (height\\\\2, width\\\\2), dtype=uint8
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v_plane (np.ndarray): 色度V平面，形状为 (height\\\\2, width\\\\2), dtype=uint8
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返回:
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tuple: (y_plane_nv12, uv_plane_nv12)
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- y_plane_nv12: 亮度平面，与输入相同
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- uv_plane_nv12: 交织的UV平面，形状为 (height\\\\2, width)
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"""
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# 1. Y平面直接复制（保持不变）
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y_plane_nv12 = y_plane.copy()
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# 2. 获取尺寸信息
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uv_height = u_plane.shape[0] # height \\\\ 2
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uv_width = u_plane.shape[1] # width \\\\ 2
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# 3. 创建目标UV平面，宽度是原UV宽度的2倍（因为要交错存放U和V）
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uv_plane_nv12 = np.zeros((uv_height, uv_width * 2), dtype=np.uint8)
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# 4. 将U和V平面数据交错地填入目标UV平面
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# UV平面的偶数索引位置放U，奇数索引位置放V
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uv_plane_nv12[:, 0::2] = u_plane # 所有行，第0,2,4,...列 = U
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uv_plane_nv12[:, 1::2] = v_plane # 所有行，第1,3,5,...列 = V
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return y_plane_nv12, uv_plane_nv12
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def nv12_to_bgr_manual(y_plane, uv_plane):
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"""
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手动将 NV12 转换为 BGR
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"""
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yuv_image = np.concatenate((y_plane, uv_plane), axis=0)
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bgr_image = cv2.cvtColor(yuv_image, cv2.COLOR_YUV2BGR_NV12) # 使用OpenCV进行YUV到BGR的转换
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return bgr_image
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def cam_img_kb(x,y,z,cam_intrinsic,distort_param):
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# objp=np.array([x/z,y/z,1]).reshape(1,-1,3)
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# rvec = np.array([[[0., 0., 0.]]])
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# tvec = np.array([[[0., 0., 0.]]])
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# image_coord, _ = cv2.fisheye.projectPoints(objp, rvec, tvec,cam_intrinsic, distort_param)
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# image_coord = image_coord.reshape(-1)
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# return image_coord
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camxyz = np.array([x/z, y/z]).reshape(-1,2)
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a = camxyz[...,0]
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b = camxyz[...,1]
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r = np.sqrt(a * a + b * b)
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theta = np.arctan(r)
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k1 = distort_param[0]
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k2 = distort_param[1]
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k3 = distort_param[2]
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k4 = distort_param[3]
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thetaD = theta * (1 + k1 * theta**2 + k2 * theta**4 + k3 * theta**6 + k4 * theta**8)
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xp = thetaD / r * a
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yp = thetaD / r * b
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fx = cam_intrinsic[0,0]
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fy = cam_intrinsic[1,1]
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cx = cam_intrinsic[0,2]
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cy = cam_intrinsic[1,2]
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imgx = (fx * xp + cx)
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imgy = (fy * yp + cy)
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# mask_2d = (imgx>=0)&(imgx<3840)&(imgy>=0)&(imgy<2160)
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pix_point = np.round(np.concatenate((imgx.reshape((-1,1)),imgy.reshape((-1,1))),axis=-1))
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# pix_point = pix_point[mask_2d].astype(np.int32)
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pix_point = pix_point.astype(np.int32)
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return pix_point.reshape(-1)
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def xyz_xy(x,y,distort_param,K):
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r = np.sqrt(x * x + y * y)
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r_2 = r * r
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r_4 = r_2 * r_2
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r_6 = r_4 * r_2
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m_distort_coeffs = distort_param
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coeffs = np.zeros(12,dtype=np.float32)
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for i in range(min(m_distort_coeffs.shape[0],12)):
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coeffs[i] = m_distort_coeffs[i]
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radial_ratio = (1 + coeffs[0] * r_2 + coeffs[1] * r_4 + coeffs[4] * r_6) / (1 + coeffs[5] * r_2 + coeffs[6] * r_4 + coeffs[7] * r_6)
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res_x = x * radial_ratio + 2 * coeffs[2] * x * y + coeffs[3] * (r_2 + 2 * pow(x, 2)) + coeffs[8] * r_2 + coeffs[9] * r_4
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res_y = y * radial_ratio + 2 * coeffs[2] * (r_2 + 2 * pow(y, 2)) + coeffs[3] * x * y + coeffs[10] * r_2 + coeffs[11] * r_4
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image_coord = np.dot(K,np.array([res_x,res_y,1])).T
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return image_coord
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def Lidar2OrigImg(pts3d, lidar_to_cam, distort_param, K, origW, origH):
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pts3d_cam = np.dot(lidar_to_cam[:3, :3],[pts3d[0],pts3d[1],pts3d[2]]) + lidar_to_cam[:3, 3]
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if len(distort_param)==5:
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pts2d_cam = xyz_xy(pts3d_cam[0] /pts3d_cam[2], pts3d_cam[1] / pts3d_cam[2], distort_param, K)
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else:
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pts2d_cam = cam_img_kb(pts3d_cam[0],pts3d_cam[1],pts3d_cam[2],K,distort_param)
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# pts2d_cam = cam_img_kb(pts3d_cam[0],pts3d_cam[1],pts3d_cam[2],K,distort_param)
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# pts2d_cam = xyz_xy(pts3d_cam[0] / pts3d_cam[2],pts3d_cam[1] / pts3d_cam[2],distort_param,K)
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pts2d_cam = pts2d_cam[0:2]
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pts2d_cam[0] = np.clip(pts2d_cam[0],0,origW-1)
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pts2d_cam[1] = np.clip(pts2d_cam[1],0,origH-1)
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return pts2d_cam, pts3d_cam
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def show_group_uuid(raw_id: str) -> None:
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'''
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通过 raw_id 列出所有通过清洗的 group_uuid
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'''
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with Raw(raw_id) as raw:
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group_uuid_list = raw.list_group_ukeys()
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for group_uuid in group_uuid_list:
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print(group_uuid)
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def call_api(body: Dict[str, str], url: str) -> Dict[str, Any]:
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"""
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调用标定文件管理API
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Args:
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body: 请求体参数，包含plate_number
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url: API接口地址
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Returns:
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API返回的完整响应数据
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"""
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headers = {
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"User-Agent": "Apifox/1.0.0 (https://apifox.com)",
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"Content-Type": "application/json",
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"Accept": "*/*",
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"Host": "d.minieye.tech",
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"Connection": "keep-alive",
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}
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try:
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response = requests.post(url, headers=headers, json=body)
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response.raise_for_status() # 检查HTTP错误
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return response.json()
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except requests.exceptions.RequestException as e:
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print(f"请求失败: {e}")
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return {}
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except json.JSONDecodeError as e:
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print(f"JSON解析失败: {e}")
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return {}
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|||
|
|
def wirite_calib_by_ukey(ukey: str, output_path: str) -> None:
|
|||
|
|
"""
|
|||
|
|
通过 ukey 获取标定信息并写入本地文件
|
|||
|
|
"""
|
|||
|
|
full_info = call_api(ukey, GET_JSON_BY_UKEY_API_URL)["json_files_content"]
|
|||
|
|
for key, value in full_info.items():
|
|||
|
|
result_dir = os.path.join(output_path, os.path.dirname(key))
|
|||
|
|
os.makedirs(result_dir, exist_ok=True)
|
|||
|
|
with open(os.path.join(output_path, key), 'w') as fw:
|
|||
|
|
json.dump(value, fw, indent=4)
|
|||
|
|
|
|||
|
|
|
|||
|
|
def get_calib_info(group_uuid: str, output_path: str) -> None:
|
|||
|
|
'''
|
|||
|
|
通过 group_uuid 获取标定信息
|
|||
|
|
'''
|
|||
|
|
with Group(group_uuid) as group:
|
|||
|
|
calib_ukey = group.meta.get('calib_filepath', None)
|
|||
|
|
if calib_ukey is None:
|
|||
|
|
print(f"未找到标定信息 for group_uuid: {group_uuid}")
|
|||
|
|
return
|
|||
|
|
ukey = {"ukey": calib_ukey}
|
|||
|
|
wirite_calib_by_ukey(ukey, output_path)
|
|||
|
|
|
|||
|
|
def getRoadCurve(textpath):
|
|||
|
|
Curuuids = []
|
|||
|
|
textlists = open(textpath,'r').readlines()
|
|||
|
|
for text in textlists:
|
|||
|
|
context = text.strip('\n').split(' ')
|
|||
|
|
uuid = context[0]
|
|||
|
|
frameid = context[1]
|
|||
|
|
couvature = float(context[2])
|
|||
|
|
if abs(couvature) < 150:
|
|||
|
|
if uuid not in Curuuids:
|
|||
|
|
Curuuids.append(uuid)
|
|||
|
|
return Curuuids
|
|||
|
|
|
|||
|
|
def find_index_by_timestamp(df: pd.DataFrame, camera_id: str, timestamp_ns: int) -> int:
|
|||
|
|
json_index = df[abs(df[f'{camera_id}'] - timestamp_ns) < 1e-3].index[0]
|
|||
|
|
return json_index
|
|||
|
|
|
|||
|
|
|
|||
|
|
def parse_video(car_name: str, date_name: str, groupuuid: str, json_list: List, clip_paths: List, camera_id: str, df: pd.DataFrame, output_path: str) -> Dict:
|
|||
|
|
'''
|
|||
|
|
解析视频流，保存为图片
|
|||
|
|
'''
|
|||
|
|
print(f" 开始解析视频并保存图片...")
|
|||
|
|
|
|||
|
|
def h265_to_image(frame):
|
|||
|
|
container = av.open(io.BytesIO(frame))
|
|||
|
|
for frame_yuvj420p in container.decode(video=0):
|
|||
|
|
y_plane = plane_to_ndarray(frame_yuvj420p.planes[0])
|
|||
|
|
u_plane = plane_to_ndarray(frame_yuvj420p.planes[1])
|
|||
|
|
v_plane = plane_to_ndarray(frame_yuvj420p.planes[2])
|
|||
|
|
|
|||
|
|
# 转换为 NV12
|
|||
|
|
y_nv12, uv_nv12 = yuvj420p_to_nv12(y_plane, u_plane, v_plane)
|
|||
|
|
|
|||
|
|
frame = nv12_to_bgr_manual(y_nv12, uv_nv12)
|
|||
|
|
return frame
|
|||
|
|
raise ValueError("解码失败")
|
|||
|
|
|
|||
|
|
image_path = os.path.join(output_path, 'images')
|
|||
|
|
os.makedirs(image_path, exist_ok=True)
|
|||
|
|
|
|||
|
|
struct_decoder = StructDecoder()
|
|||
|
|
saved_count = 0
|
|||
|
|
for clip_path in clip_paths:
|
|||
|
|
reader = ClipReader(clip_path)
|
|||
|
|
for schema, channel, msg in reader.iter_messages(topics=[camera_id]):
|
|||
|
|
if schema.encoding == "struct":
|
|||
|
|
data = struct_decoder.decode(schema, channel, msg)
|
|||
|
|
if not isinstance(data, VideoMessage):
|
|||
|
|
continue
|
|||
|
|
camera_ts_ns = msg.log_time
|
|||
|
|
json_index = find_index_by_timestamp(df, camera_id, camera_ts_ns)
|
|||
|
|
if json_list is not None:
|
|||
|
|
if json_index not in json_list:
|
|||
|
|
continue
|
|||
|
|
frame = data.payload
|
|||
|
|
img = h265_to_image(frame)
|
|||
|
|
# filepath = os.path.join(image_path, f"{json_index:06d}.jpg")
|
|||
|
|
|
|||
|
|
filepath = image_path + '/' + '%s_%s_%s_%06d_%d.png'%(car_name, date_name, groupuuid, json_index,df['camera4_frame_id'][json_index])
|
|||
|
|
|
|||
|
|
# 使用OpenCV保存图片
|
|||
|
|
cv2.imwrite(str(filepath), img)
|
|||
|
|
saved_count += 1
|
|||
|
|
|
|||
|
|
print(f" 保存了 {saved_count} 张图片到 {image_path}")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def get_clip_paths(group_uuid: str) -> List[str]:
|
|||
|
|
'''
|
|||
|
|
获取 group 下的所有 clip 路径
|
|||
|
|
'''
|
|||
|
|
clip_path_list = []
|
|||
|
|
with Group(group_uuid) as group:
|
|||
|
|
for clip_ukey in group.list_clip_ukeys():
|
|||
|
|
clip = Clip(clip_ukey)
|
|||
|
|
files, raw_files = clip.list_files()
|
|||
|
|
cache_file_path = clip.get_cache_path(files[0])
|
|||
|
|
clip_path_list.append(cache_file_path)
|
|||
|
|
return clip_path_list
|
|||
|
|
|
|||
|
|
|
|||
|
|
class NumericType(IntEnum):
|
|||
|
|
UNKNOWN = 0
|
|||
|
|
UINT8 = 1
|
|||
|
|
INT8 = 2
|
|||
|
|
UINT16 = 3
|
|||
|
|
INT16 = 4
|
|||
|
|
UINT32 = 5
|
|||
|
|
INT32 = 6
|
|||
|
|
FLOAT32 = 7
|
|||
|
|
FLOAT64 = 8
|
|||
|
|
|
|||
|
|
|
|||
|
|
def get_frame_timestamps_data_from_tar(group_uuid: str) -> pd.DataFrame:
|
|||
|
|
with Group(group_uuid) as group:
|
|||
|
|
# 获取时间同步表
|
|||
|
|
with group.open('clean_data_archive.tar', mode="rb") as f:
|
|||
|
|
tar = tarfile.open(fileobj=f)
|
|||
|
|
csv_obj = tar.extractfile(tar.getmember("frame_timestamps.csv"))
|
|||
|
|
df = pd.read_csv(csv_obj)
|
|||
|
|
return df
|
|||
|
|
|
|||
|
|
|
|||
|
|
def load_point_cloud(json_index, df, clip_path_list):
|
|||
|
|
# 类型映射表
|
|||
|
|
type_mapping = {
|
|||
|
|
NumericType.FLOAT32: 'f4', NumericType.FLOAT64: 'f8',
|
|||
|
|
NumericType.UINT8: 'u1', NumericType.UINT16: 'u2', NumericType.UINT32: 'u4',
|
|||
|
|
NumericType.INT8: 'i1', NumericType.INT16: 'i2', NumericType.INT32: 'i4'
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
# 根据时间戳搜索点云数据
|
|||
|
|
protobuf_decoder = ProtobufDecoder()
|
|||
|
|
lidar_ts_ns = df.loc[json_index, 'Pandar128']
|
|||
|
|
start_ts_ns = lidar_ts_ns - 1e9
|
|||
|
|
end_ts_ns = lidar_ts_ns + 1e9
|
|||
|
|
for clip_path in clip_path_list:
|
|||
|
|
reader = ClipReader(clip_path)
|
|||
|
|
for schema, channel, msg in reader.iter_messages(topics=['Pandar128'], start_time=start_ts_ns, end_time=end_ts_ns):
|
|||
|
|
if schema.encoding == "protobuf":
|
|||
|
|
data = protobuf_decoder.decode(schema, channel, msg)
|
|||
|
|
frame_ts = msg.log_time
|
|||
|
|
if abs(frame_ts - lidar_ts_ns) < 1e3:
|
|||
|
|
fields = data.fields
|
|||
|
|
|
|||
|
|
# 1. 计算每个点的长度和类型
|
|||
|
|
stride = 0
|
|||
|
|
dtype_list = []
|
|||
|
|
for field in fields:
|
|||
|
|
dtype = type_mapping[field.type]
|
|||
|
|
field_size = np.dtype(dtype).itemsize
|
|||
|
|
stride = max(stride, field.offset + field_size)
|
|||
|
|
dtype_list.append((field.name, type_mapping[field.type]))
|
|||
|
|
|
|||
|
|
# 2. 解析二进制数据
|
|||
|
|
num_points = len(data.data) // stride
|
|||
|
|
data = np.frombuffer(data.data, dtype=np.dtype(dtype_list), count=num_points)
|
|||
|
|
|
|||
|
|
return np.vstack([data['x'], data['y'], data['z'], data['intensity']]).T
|
|||
|
|
raise Exception("未搜索到点云")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def parse_truth_data(group_uuid: str, curvelists: list, output_path: str, car_name: str, date_name: str, df: pd.DataFrame) -> None:
|
|||
|
|
'''
|
|||
|
|
解析各类真值数据
|
|||
|
|
'''
|
|||
|
|
def untar_file(group_uuid: str, output_path: str, tar_filename: str, product_type: str, car_name: str, date_name: str, df: pd.DataFrame) -> None:
|
|||
|
|
with Group(group_uuid) as group:
|
|||
|
|
if group.get_product(product_type) is not None:
|
|||
|
|
with group.open(tar_filename, mode="rb") as f:
|
|||
|
|
tar = tarfile.open(fileobj=f)
|
|||
|
|
# 只提取JSON文件和calib文件，跳过depth_map_fg
|
|||
|
|
for member in tar.getmembers():
|
|||
|
|
# 跳过深度图文件夹
|
|||
|
|
if 'depth_map_fg' in member.name:
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
# 优先判断calib文件（因为calib文件也可能是.json格式）
|
|||
|
|
if 'calib' in member.name:
|
|||
|
|
# 修改提取路径：将calib文件放到calib/目录
|
|||
|
|
calib_filename = os.path.basename(member.name)
|
|||
|
|
calib_dir = os.path.join(output_path, 'calib')
|
|||
|
|
os.makedirs(calib_dir, exist_ok=True)
|
|||
|
|
# 提取文件内容并保存
|
|||
|
|
file_obj = tar.extractfile(member)
|
|||
|
|
if file_obj:
|
|||
|
|
with open(os.path.join(calib_dir, calib_filename), 'wb') as f_out:
|
|||
|
|
f_out.write(file_obj.read())
|
|||
|
|
# 提取annotations JSON文件到annotations文件夹
|
|||
|
|
elif 'camera_radar_lidar_jsons' in member.name and member.name.endswith('.json'):
|
|||
|
|
# 提取文件名中的json_index
|
|||
|
|
json_filename = os.path.basename(member.name)
|
|||
|
|
try:
|
|||
|
|
# 从文件名中提取json_index (例如 "000001.json" -> 1)
|
|||
|
|
json_index = int(json_filename[:-5]) # 去掉.json后缀
|
|||
|
|
# 获取对应的frame_id
|
|||
|
|
frame_id = df['camera4_frame_id'][json_index]
|
|||
|
|
# 使用和图片相同的命名格式
|
|||
|
|
new_filename = '%s_%s_%s_%06d_%d.json' % (car_name, date_name, group_uuid, json_index, frame_id)
|
|||
|
|
|
|||
|
|
annotations_dir = os.path.join(output_path, 'annotations')
|
|||
|
|
os.makedirs(annotations_dir, exist_ok=True)
|
|||
|
|
# 提取文件内容并保存
|
|||
|
|
file_obj = tar.extractfile(member)
|
|||
|
|
if file_obj:
|
|||
|
|
with open(os.path.join(annotations_dir, new_filename), 'wb') as f_out:
|
|||
|
|
f_out.write(file_obj.read())
|
|||
|
|
except (ValueError, KeyError, IndexError) as e:
|
|||
|
|
print(f"警告: 无法处理文件 {member.name}, 错误: {e}")
|
|||
|
|
else:
|
|||
|
|
print(f"Group {group_uuid} does not have product {product_type}.")
|
|||
|
|
|
|||
|
|
def gen_valid_file(group_uuid: str, curvelists: list, output_path: str, tar_filename: str, product_type: str) -> None:
|
|||
|
|
valid_list = []
|
|||
|
|
with Group(group_uuid) as group:
|
|||
|
|
if group.get_product(product_type) is not None:
|
|||
|
|
with group.open(tar_filename, mode="rb") as f:
|
|||
|
|
with tarfile.open(fileobj=f, mode="r|*") as tar:
|
|||
|
|
for member in tar:
|
|||
|
|
# print("读取", member.name)
|
|||
|
|
if 'calib/calib_pandar128_to_cam.json' in member.name:
|
|||
|
|
fr = tar.extractfile(member)
|
|||
|
|
calib_param = json.load(fr)
|
|||
|
|
lidar_to_cam = np.array(calib_param['camera4']["Extrinsic"])
|
|||
|
|
cam_intrinsic = np.array(calib_param['camera4']["Intrinsic"])
|
|||
|
|
distortion_param = np.array(calib_param['camera4']["Distortion"])
|
|||
|
|
if 'camera_radar_lidar_jsons' not in member.name or '.json' not in member.name:
|
|||
|
|
continue
|
|||
|
|
##########
|
|||
|
|
valid_list.append(member.name)
|
|||
|
|
# ##############curve####
|
|||
|
|
# if len(curvelists) != 0:
|
|||
|
|
# if group_uuid in curvelists:
|
|||
|
|
# valid_list.append(member.name)
|
|||
|
|
# continue
|
|||
|
|
# #############
|
|||
|
|
# fr = tar.extractfile(member)
|
|||
|
|
# objs = json.load(fr)['asso_list']
|
|||
|
|
# valid_obj = 0
|
|||
|
|
# for obj in objs:
|
|||
|
|
# label_2d = obj['camera_mea']
|
|||
|
|
# label_det_cls = det_cls_map[label_2d['cls']]
|
|||
|
|
# pose = posecls.get(label_2d['pose'])
|
|||
|
|
# sublabel = subcls.get(label_2d['subcls'])
|
|||
|
|
# if label_det_cls != 0:
|
|||
|
|
# continue
|
|||
|
|
# label_lidar = obj['lidar_mea']
|
|||
|
|
# if label_lidar is None:
|
|||
|
|
# continue
|
|||
|
|
# obj_lidar = [float(label_lidar[1]),float(label_lidar[2]),float(label_lidar[3]),float(label_lidar[4]),float(label_lidar[5]),float(label_lidar[6]),float(label_lidar[7])]
|
|||
|
|
# cam2d,cam3dpoint = Lidar2OrigImg(np.array([obj_lidar[0],obj_lidar[1],obj_lidar[2]]), lidar_to_cam, distortion_param, cam_intrinsic, 1920, 1080)
|
|||
|
|
# if abs(cam3dpoint[0]) < 15 and abs(cam3dpoint[2]) < 80 and obj_lidar[3] > 5.5: ####大车
|
|||
|
|
# valid_obj += 1
|
|||
|
|
# valid_list.append(member.name)
|
|||
|
|
# break ##
|
|||
|
|
# # elif abs(cam3dpoint[0]) < 8 and abs(cam3dpoint[2]) < 8 : ####大车切车
|
|||
|
|
# # valid_obj += 1
|
|||
|
|
# # valid_list.append(member.name)
|
|||
|
|
# # break ##
|
|||
|
|
else:
|
|||
|
|
print(f"Group {group_uuid} does not have product {product_type}.")
|
|||
|
|
return valid_list
|
|||
|
|
|
|||
|
|
# product_type_list = [
|
|||
|
|
# 'auto-2d-box-label',
|
|||
|
|
# 'auto-3d-box-label',
|
|||
|
|
# '2d-3d-association',
|
|||
|
|
# 'static-map'
|
|||
|
|
# ]
|
|||
|
|
product_type_list = [
|
|||
|
|
'2d-3d-association'
|
|||
|
|
]
|
|||
|
|
for product_type in product_type_list:
|
|||
|
|
tar_filename = f"{product_type}_archive.tar"
|
|||
|
|
valid_list = gen_valid_file(group_uuid, curvelists, output_path, tar_filename, product_type)
|
|||
|
|
if len(valid_list) != 0:
|
|||
|
|
untar_file(group_uuid, output_path, tar_filename, product_type, car_name, date_name, df)
|
|||
|
|
return valid_list
|
|||
|
|
|
|||
|
|
def gettraindatagroupuuid(path):
|
|||
|
|
used_uuids = []
|
|||
|
|
imglists = glob.glob(path + '*/*/images/*.png')
|
|||
|
|
imglists.sort()
|
|||
|
|
for img in imglists:
|
|||
|
|
name = os.path.basename(img)
|
|||
|
|
co = name.split('_')
|
|||
|
|
uuid = co[3]
|
|||
|
|
if uuid not in used_uuids:
|
|||
|
|
used_uuids.append(uuid)
|
|||
|
|
return used_uuids
|
|||
|
|
|
|||
|
|
def process_single_uuid(args):
|
|||
|
|
"""
|
|||
|
|
封装单个UUID的完整处理流程，作为多进程执行的任务函数
|
|||
|
|
:param args: (group_uuid, uuid_date_dict, vehicle_number)
|
|||
|
|
:return: 处理结果（成功/失败），便于后续统计
|
|||
|
|
"""
|
|||
|
|
group_uuid, uuid_date_dict, vehicle_number = args
|
|||
|
|
|
|||
|
|
# existpath = '/mnt/hfs/xdzhu/G1M3_PDCL/0105_1616/'
|
|||
|
|
# used_uuids = os.listdir(existpath)
|
|||
|
|
# existpath2 = '/mnt/hfs/xdzhu/G1M3_PDCL/0105_1616_2/'
|
|||
|
|
# used_uuids2 = os.listdir(existpath2)
|
|||
|
|
# if group_uuid not in used_uuids and group_uuid not in used_uuids2:
|
|||
|
|
|
|||
|
|
# 1. 初始化变量（原循环内的逻辑）
|
|||
|
|
curvelists = [] # 每个进程独立初始化，避免多进程共享冲突
|
|||
|
|
date = uuid_date_dict[group_uuid][0] # 取该UUID的第一个日期
|
|||
|
|
output_path = os.path.join(output, group_uuid) # 更规范的路径拼接
|
|||
|
|
|
|||
|
|
# 2. 获取时间同步表和clip路径（需要在parse_truth_data之前获取df）
|
|||
|
|
df = get_frame_timestamps_data_from_tar(group_uuid)
|
|||
|
|
clip_path_list = get_clip_paths(group_uuid)
|
|||
|
|
|
|||
|
|
# 3. 解析真值数据（传递vehicle_number, date, df参数以便重命名JSON文件）
|
|||
|
|
valid_list = parse_truth_data(group_uuid, curvelists, output_path, vehicle_number, date, df)
|
|||
|
|
|
|||
|
|
# 4. 无有效数据则跳过
|
|||
|
|
if len(valid_list) == 0:
|
|||
|
|
print(f"UUID {group_uuid} 无有效数据，跳过")
|
|||
|
|
return (group_uuid, "success (no valid data)")
|
|||
|
|
|
|||
|
|
# 5. 处理有效列表（修复原代码重复用i、追加元素的问题）
|
|||
|
|
valid_list.sort()
|
|||
|
|
valid_ids = [] # 单独定义ID列表，避免污染原valid_list
|
|||
|
|
for file_path in valid_list:
|
|||
|
|
name = os.path.basename(file_path)
|
|||
|
|
# 提取ID（假设文件名格式为 "xxx.id.json" 之类，-5 对应后缀长度）
|
|||
|
|
try:
|
|||
|
|
id = int(name[0:-5])
|
|||
|
|
valid_ids.append(id)
|
|||
|
|
except ValueError:
|
|||
|
|
print(f"UUID {group_uuid} 文件名 {name} 解析ID失败，跳过")
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
# 6. 执行图像解码
|
|||
|
|
parse_video(vehicle_number, date, group_uuid, valid_ids, clip_path_list, 'camera4', df, output_path)
|
|||
|
|
|
|||
|
|
print(f"UUID {group_uuid} 处理完成")
|
|||
|
|
return (group_uuid, "success")
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
product_type = '2d-3d-association' # 真值产物类型
|
|||
|
|
project_name = 'G1M3_0630' # 项目名称
|
|||
|
|
|
|||
|
|
CAR = 'G1M3_0630' #'G1M3_AFS1616' #'G1M3_0877' #'G1M3_AFS1616' #'G1M3_FDL2232'
|
|||
|
|
output = '/data/zschen/dm3d/'
|
|||
|
|
# output = '/home/xdzhu/Data/test0877/'
|
|||
|
|
|
|||
|
|
groupuuidpath = '/data/zschen/dm3d/0630_total_20260111.txt'
|
|||
|
|
textlists = open(groupuuidpath,'r').readlines()
|
|||
|
|
textlists.sort()
|
|||
|
|
uuid_date = {}
|
|||
|
|
group_uuidlists = []
|
|||
|
|
for text in textlists:
|
|||
|
|
context = text.strip('\n').split(' ')
|
|||
|
|
date = context[1]
|
|||
|
|
# if date[0:8] == '20251129':
|
|||
|
|
# continue
|
|||
|
|
if context[0] not in group_uuidlists:
|
|||
|
|
group_uuidlists.append(context[0])
|
|||
|
|
if context[0] not in uuid_date:
|
|||
|
|
uuid_date[context[0]] = []
|
|||
|
|
uuid_date[context[0]].append(date)
|
|||
|
|
|
|||
|
|
task_list = [(uuid, uuid_date, CAR) for uuid in group_uuidlists]
|
|||
|
|
|
|||
|
|
cpu_count = multiprocessing.cpu_count()
|
|||
|
|
process_num = max(1, cpu_count - 2) # 至少1个进程
|
|||
|
|
# process_num = 1
|
|||
|
|
|
|||
|
|
print(f"开始多进程处理，共 {len(group_uuidlists)} 个UUID，进程数: {process_num}")
|
|||
|
|
|
|||
|
|
# 创建进程池并执行
|
|||
|
|
with Pool(processes=process_num) as pool:
|
|||
|
|
# 映射任务到进程池，返回结果列表
|
|||
|
|
results = pool.map(process_single_uuid, task_list)
|
|||
|
|
|
|||
|
|
# 3. 统计处理结果
|
|||
|
|
success_count = 0
|
|||
|
|
fail_count = 0
|
|||
|
|
try:
|
|||
|
|
for uuid, res in results:
|
|||
|
|
if res.startswith("success"):
|
|||
|
|
success_count += 1
|
|||
|
|
else:
|
|||
|
|
fail_count += 1
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
print(f"\n处理完成！总计: {len(group_uuidlists)} | 成功: {success_count} | 失败: {fail_count}")
|
|||
|
|
# 可选：打印失败的UUID详情
|
|||
|
|
try:
|
|||
|
|
fail_details = [(uuid, res) for uuid, res in results if not res.startswith("success")]
|
|||
|
|
if fail_details:
|
|||
|
|
print("失败详情:")
|
|||
|
|
for uuid, res in fail_details:
|
|||
|
|
print(f" {uuid}: {res}")
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
|