单目3D初始代码

tools/convert_merge_tracking_bundle/make_jl.py

@@ -0,0 +1,58 @@
+# Copyright (c) 2022 the ObjectPerceptionTool authors. All right reserved.
+#
+# This is a script to convert *.index.json and its data into JsonLines.
+#
+# This requires protobuf and yj_pyproto_versions. See:
+#
+#   https://git.minieye.tech/pcview/yj_pyproto_versions
+#
+# Usage:
+#
+#   make_jl.py xx.data.json -d xx.bin -o xx.jl
+
+import argparse
+import json
+import math
+import os
+import sys
+from google.protobuf import json_format
+
+import proto_reader.reader as pb_reader
+
+sys.path.append(os.path.join(sys.path[0], "pyproto"))
+import object_pb2_new as object_pb2
+
+
+def make_jsonl(data_json_path, writer):
+    reader = pb_reader.Reader(data_json_path)
+
+    i = 0
+    for chunk in reader.each():
+        # objs = json.loads(chunk)
+        objs = object_pb2.ObjectList.FromString(chunk)
+        objs = json_format.MessageToDict(objs, including_default_value_fields=True)
+
+        writer.write(json.dumps(objs, indent=2) + "\n")
+        print("Convert message", i, end="\r", file=sys.stderr)
+        i += 1
+
+    print("\ndone", file=sys.stderr)
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("data_json")
+    ap.add_argument("-o", "--output")
+    opt = ap.parse_args()
+
+    try:
+        if opt.output is None:
+            make_jsonl(opt.data_json, sys.stdout)
+        else:
+            with open(opt.output, "w") as writer:
+                make_jsonl(opt.data_json, writer)
+    except KeyboardInterrupt:
+        pass
+
+
+main()