单目3D初始代码

tools/convert_merge_tracking_bundle/proto_reader/reader.py

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+from google.protobuf import json_format
+import os
+import json
+import sys
+
+from absl import logging
+
+
+class Reader:
+    def __init__(self, data_file_path):
+        with open(data_file_path) as reader:
+            data_file_conf = json.load(reader)
+
+        data_file_base_path = os.path.dirname(data_file_path)
+
+        index_file_path = os.path.join(data_file_base_path, data_file_conf["index"][0])
+        binary_file_path = os.path.join(data_file_base_path, data_file_conf["data"][0])
+
+        with open(index_file_path, "r") as object_index_file:
+            self.object_index = json.load(object_index_file)
+
+        self.binary_file_path = binary_file_path
+
+    def each(self):
+        with open(self.binary_file_path, "rb") as object_pb_file:
+            for obj_idx in self.object_index["index"]:
+                offset = obj_idx[1]
+                size = obj_idx[2]
+
+                object_pb_file.seek(offset)
+                bts = object_pb_file.read(size)
+
+                logging.debug("data size %d", size)
+
+                yield bts