KITTI Tracking dataset whose format is letf_top_right_bottom to JDE normalied xc_yc_w_h

Transform KITTI tracking to normalized format which is adapt to JDE

• Tracking 比 Detection 多一级子目录，稍微显得复杂
• 此处认为 Van 和 car 都视为 Vehicles
• 同时还生成了 .train个使得文件，直接用于训练

from glob import glob
import numpy as np
import os


class ConvertTxt(object):
    def __init__(self):
        self.label = r"E:\8_DataSet\KITTI_tracking\label_02" # 原始标签文件
        self.label_ids = r"E:\8_DataSet\KITTI_tracking\labels_with_ids" # 目标标签文件目录
        self.folder = "0000"
        self.file = "0000.txt"
        self.label_subdir = None

    @staticmethod
    def generate_kitti_train():
        # 注意本处生成的是以image为基准的train文件，包含所有图片，而通常情况下筛选后的lebels_with_ids则不行，会偏少
        # 修改就是使用 lebels_with_ids 为基准，然后将txt 使用replace 方法改为png
        path = os.walk(r"E:\8_DataSet\KITTI_tracking\image_02")
        for root, directories, files in path:
            for _dir in directories:
                line = "KITTI/image_02/{}/".format(_dir)
                _dir = os.path.join(r"E:\8_DataSet\KITTI_tracking\image_02", _dir)
                # dir_list.append(_dir)
                txt_list = os.listdir(_dir)
                with open("kitti-img.train", 'a') as f:
                    for item in txt_list:
                        line1 = line + item
                        f.writelines(line1)
                        f.writelines("\n")

    '''
    type--Describes the type of object:'Car', 'Van', 'Truck', 'Pedestrian', 'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram', 'Misc', 'DontCare'
    bbox:
        bbox            2D bounding box of object in the image (0-based index):  contains `left, top, right, bottom` pixel coordinate
    '''

    def convert_label_with_id(self):
        label_txt = os.path.join(self.label, self.file)
        self.label_subdir = os.path.join(self.label_ids, self.folder)
        frame_array = []
        save_lines = []
        if not os.path.exists(self.label_subdir):
            os.mkdir(self.label_subdir)
        with open(label_txt) as f:
            lines = f.readlines()
            for line in lines:
                temp_list = line.strip("\n").split(" ")
                _frame, _id, _type, l, t, r, b = temp_list[0], temp_list[1], temp_list[2], temp_list[6], temp_list[7], \
                                                 temp_list[8], temp_list[9]
                if _type == 'Car' or _type == 'Van':
                    frame_array.append(_frame)
                    # TODO 是否将id赋值为 -1

                    xc, yc, w, h = self.lrtb2cxcywh(l, t, r, b)
                    l, t, r, b = xc, yc, w, h  # 正则化后的坐标，yolo格式
                    # save_line = "{} {} {} {} {} {}".format(0, -1, l, t, r, b)
                    save_line = "{} {} {} {} {} {}".format(0, _id, l, t, r, b)
                    save_lines.append(save_line)
        return frame_array, save_lines

    def write_one_file(self, frame_array, save_lines):
        number_list, value_list = self.clasify_frames(frame_array)
        line_count = 0
        for i in range(len(value_list)):
            _th, _hu, _ten, _n = self.transfer_int2txt(value_list[i])
            val_txt = "00{}{}{}{}.txt".format(_th, _hu, _ten, _n)
            txt_path = os.path.join(self.label_subdir, val_txt)
            with open(txt_path, 'w') as f:
                for j in range(int(number_list[i])):
                    f.writelines(str(save_lines[line_count]))
                    f.writelines("\n")
                    line_count += 1

    def write_files(self):
        file_list = []
        path = os.walk(self.label)
        for root, directories, files in path:
            for file in files:
                # dir = os.path.join(path,directory)
                file_list.append(file)

        for file in file_list:
            self.file = file
            self.folder = file.split(".")[0]

            frame_array, save_lines = self.convert_label_with_id()
            self.write_one_file(frame_array, save_lines)

    def clasify_frames(self, vec):

        '''
        input a sorted list or a array
        return a list whose element is tuple type, (value, number)
        '''
        length = len(vec)
        left = 0
        frame_list = []
        name_list = []
        for i in range(length):
            if vec[left] != vec[i]:
                frame_num = i - left
                frame_list.append(frame_num)
                name_list.append(vec[left])
                left = i
            if i == length - 1:
                frame_list.append(i - left + 1)
                name_list.append(vec[left])
        return frame_list, name_list

    @staticmethod
    def transfer_int2txt(frme):
        frme = int(frme)
        if frme == 0:
            _n = 0
        else:
            _n = frme % 10
        if frme >= 10:
            _ten = int(frme / 10) % 10
        else:
            _ten = 0
        if frme >= 100:
            _hu = int(frme / 100) % 10
        else:
            _hu = 0
        if frme >= 1000:
            _th = int(frme / 1000) % 10
        else:
            _th = 0
        return _th, _hu, _ten, _n

    def lrtb2cxcywh(self, l, t, r, b):
        l, t, r, b = float(l), float(t), float(r), float(b)
        image_w, image_h = 1242, 375
        xc, yc, w, h = self.pascal_voc_to_yolo(l, t, r, b, image_w, image_h)
        return xc, yc, w, h

    # KITTI tracking 2D 的高宽通道数分别为 375 1242 3
    # Convert Pascal_Voc bb to Yolo
    # [x_min, y_min, x_max, y_max] ---> [x_center, y_center, width, height]
    def pascal_voc_to_yolo(self, x1, y1, x2, y2, image_w, image_h):
        return [((x2 + x1) / (2 * image_w)), ((y2 + y1) / (2 * image_h)), (x2 - x1) / image_w, (y2 - y1) / image_h]


covert_test = ConvertTxt()
covert_test.write_files()