some update

Signed-off-by: ktro2828 <[email protected]>
tier4 · Jun 27, 2023 · 007f4f6 · 007f4f6
1 parent 8015438
commit 007f4f6
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Showing 2 changed files with 32 additions and 22 deletions.
diff --git a/perception_eval/perception_eval/common/dataset_utils.py b/perception_eval/perception_eval/common/dataset_utils.py
@@ -14,6 +14,7 @@
 
 from __future__ import annotations
 
+import logging
 from typing import Any
 from typing import Dict
 from typing import List
@@ -38,7 +39,6 @@
 from perception_eval.common.status import Visibility
 from PIL import Image
 from pyquaternion.quaternion import Quaternion
-import logging
 
 from . import dataset
 
@@ -388,26 +388,29 @@ def _sample_to_frame_2d(
     unix_time: int = sample["timestamp"]
 
     sample_data_tokens: List[str] = []
-    frame_id_mapping: Dict[str, FrameID] = {}    
+    frame_id_mapping: Dict[str, FrameID] = {}
     for frame_id_ in frame_ids:
-        # TODO update
-        scene_descriptions: List[str] = nusc.get("scene", sample["scene_token"])[
-                "description"
-            ].split(", ")
-        if "regulatory_element" in scene_descriptions:
-            for camera_type in (FrameID.CAM_TRAFFIC_LIGHT_FAR.value.upper(), FrameID.CAM_TRAFFIC_LIGHT_NEAR.value.upper()):
-                if nusc_sample["data"].get(camera_type) is None:
-                    continue
-                sample_data_token = nusc_sample["data"][camera_type]
-                sample_data_tokens.append(sample_data_token)
-                frame_id_mapping[sample_data_token] = FrameID.TRAFFIC_LIGHT # frame_id_
-        else:
-            camera_type: str = frame_id_.value.upper()
-            if nusc_sample["data"].get(camera_type) is None:
-                continue
-            sample_data_token = nusc_sample["data"][camera_type]
-            sample_data_tokens.append(sample_data_token)
-            frame_id_mapping[sample_data_token] = frame_id_
+        # # TODO update
+        # scene_descriptions: List[str] = nusc.get("scene", sample["scene_token"])[
+        #     "description"
+        # ].split(", ")
+        # if "regulatory_element" in scene_descriptions:
+        #     for camera_type in (
+        #         FrameID.CAM_TRAFFIC_LIGHT_FAR.value.upper(),
+        #         FrameID.CAM_TRAFFIC_LIGHT_NEAR.value.upper(),
+        #     ):
+        #         if nusc_sample["data"].get(camera_type) is None:
+        #             continue
+        #         sample_data_token = nusc_sample["data"][camera_type]
+        #         sample_data_tokens.append(sample_data_token)
+        #         frame_id_mapping[sample_data_token] = FrameID.TRAFFIC_LIGHT  # frame_id_
+        # else:
+        camera_type: str = frame_id_.value.upper()
+        if nusc_sample["data"].get(camera_type) is None:
+            continue
+        sample_data_token = nusc_sample["data"][camera_type]
+        sample_data_tokens.append(sample_data_token)
+        frame_id_mapping[sample_data_token] = frame_id_
 
     raw_data: Optional[Dict[str, np.ndarray]] = {} if load_raw_data else None
     if load_raw_data:
@@ -452,7 +455,7 @@ def _sample_to_frame_2d(
 
         visibility = None
 
-        logging.info(f"uuid: {uuid}")
+        logging.debug(f"uuid: {uuid}")
 
         object_: DynamicObject2D = DynamicObject2D(
             unix_time=unix_time,

diff --git a/perception_eval/perception_eval/common/label.py b/perception_eval/perception_eval/common/label.py
@@ -148,7 +148,6 @@ def __init__(
         label_prefix: str,
         count_label_number: bool = False,
     ) -> None:
-
         self.evaluation_task: EvaluationTask = (
             evaluation_task
             if isinstance(evaluation_task, EvaluationTask)
@@ -305,9 +304,13 @@ def _get_traffic_light_paris(
             (TrafficLightLabel.RED_LEFT, "red_left"),
             (TrafficLightLabel.RED_LEFT_STRAIGHT, "red_left_straight"),
             (TrafficLightLabel.RED_LEFT_DIAGONAL, "red_left_diagonal"),
+            (TrafficLightLabel.RED_LEFT_STRAIGHT, "red_straight_left"),
+            (TrafficLightLabel.RED_LEFT_DIAGONAL, "red_diagonal_left"),
             (TrafficLightLabel.RED_RIGHT, "red_right"),
             (TrafficLightLabel.RED_RIGHT_STRAIGHT, "red_right_straight"),
             (TrafficLightLabel.RED_RIGHT_DIAGONAL, "red_right_diagonal"),
+            (TrafficLightLabel.RED_RIGHT_STRAIGHT, "red_straight_right"),
+            (TrafficLightLabel.RED_RIGHT_DIAGONAL, "red_diagonal_right"),
             (TrafficLightLabel.YELLOW_RIGHT, "yellow_right"),
             (TrafficLightLabel.UNKNOWN, "unknown"),
         ]
@@ -321,9 +324,13 @@ def _get_traffic_light_paris(
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_left"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_left_straight"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_left_diagonal"),
+            (TrafficLightLabel.TRAFFIC_LIGHT, "red_straight_left"),
+            (TrafficLightLabel.TRAFFIC_LIGHT, "red_diagonal_left"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_right"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_right_straight"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "red_right_diagonal"),
+            (TrafficLightLabel.TRAFFIC_LIGHT, "red_straight_right"),
+            (TrafficLightLabel.TRAFFIC_LIGHT, "red_diagonal_right"),
             (TrafficLightLabel.TRAFFIC_LIGHT, "yellow_right"),
             (TrafficLightLabel.UNKNOWN, "unknown"),
         ]