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feat: update args to lidar_to_camera_latency_sec
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Signed-off-by: kminoda <[email protected]>
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@kminoda
kminoda committed Dec 14, 2023
1 parent 4fa8905 commit 77f6d25
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Showing 3 changed files with 38 additions and 46 deletions.
14 changes: 7 additions & 7 deletions perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -602,13 +602,13 @@ def _convert_image(
for sample_record in sample_records
]
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list,
lidar_timestamp_list,
self._camera_latency,
self._accept_frame_drop,
self._system_scan_period_sec,
self._num_load_frames,
self._msg_display_interval,
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
lidar_to_camera_latency_sec=self._camera_latency,
system_scan_period=self._system_scan_period_sec,
accept_frame_drop=self._accept_frame_drop,
num_load_frames=self._num_load_frames,
msg_display_interval=self._msg_display_interval,
)

# Get image shape
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20 changes: 6 additions & 14 deletions perception_dataset/utils/misc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,25 +24,18 @@ def get_sample_data_filename(sensor_channel: str, frame_index: int, fileformat:
def get_lidar_camera_synced_frame_info(
image_timestamp_list: List[float],
lidar_timestamp_list: List[float],
camera_latency_sec: float = 0.0,
accept_frame_drop: bool = False,
lidar_to_camera_latency_sec: float = 0.0,
system_scan_period: float = 0.1,
accept_frame_drop: bool = False,
num_load_frames: int = 0,
msg_display_interval: int = 100,
):
<<<<<<< HEAD
synced_frame_info_list: List[
int, int, float
] = (
[]
) # [image_index, lidar_frame_index, dummy_image_timestamp (None if image is not dropped)]
=======
"""
Get synced frame info list for lidar and camera.
LiDAR scan with t_lidar and image with t_image are synced if
t_image - t_lidar >= camera_latency_sec
t_image - t_lidar >= lidar_to_camera_latency_sec
and
t_image - t_lidar <= system_scan_period + camera_latency_sec
t_image - t_lidar <= system_scan_period + lidar_to_camera_latency_sec
Args:
image_timestamp_list: image timestamp list
Expand All @@ -57,23 +50,22 @@ def get_lidar_camera_synced_frame_info(
[[image_index, lidar_frame_index, dummy_image_timestamp (None if image is not dropped)]]
"""
synced_frame_info_list: List[int, int, float] = []
>>>>>>> a3f9bb2 (feat: add document for get_lidar_camera_synced_frame_info)

current_image_index: int = 0
for lidar_index, lidar_timestamp in enumerate(lidar_timestamp_list):
if lidar_index >= num_load_frames:
break
image_timestamp = image_timestamp_list[current_image_index]

while image_timestamp - lidar_timestamp < camera_latency_sec:
while image_timestamp - lidar_timestamp < lidar_to_camera_latency_sec:
if not accept_frame_drop:
raise ValueError(
f"LiDAR message may be dropped at image_timestamp={image_timestamp}"
)
current_image_index += 1
image_timestamp = image_timestamp_list[current_image_index]

if image_timestamp - lidar_timestamp > system_scan_period + camera_latency_sec:
if image_timestamp - lidar_timestamp > system_scan_period + lidar_to_camera_latency_sec:
if not accept_frame_drop:
raise ValueError(
f"Image message may be dropped at lidar_timestamp={lidar_timestamp}"
Expand Down
50 changes: 25 additions & 25 deletions tests/utils/test_misc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,64 +30,64 @@ def assert_synced_frame_info_list(expected, synced_frame_info_list):


def test_get_lidar_camera_synced_frame_info_1():
image_timestamp_list = [0.04, 0.14, 0.24, 0.34, 0.44]
image_timestamp_list = [0.07, 0.17, 0.27, 0.37, 0.47]
lidar_timestamp_list = [0.0, 0.1, 0.2, 0.3, 0.4]
expected = [[0, 0, None], [1, 1, None], [2, 2, None], [3, 3, None], [4, 4, None]]

synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)


def test_get_lidar_camera_synced_frame_info_2():
image_timestamp_list = [0.04, 0.24, 0.44]
image_timestamp_list = [0.07, 0.27, 0.47]
lidar_timestamp_list = [0.0, 0.1, 0.2, 0.3, 0.4]
expected = [[0, 0, None], [None, 1, 0.14], [1, 2, None], [None, 3, 0.34], [2, 4, None]]
expected = [[0, 0, None], [None, 1, 0.17], [1, 2, None], [None, 3, 0.37], [2, 4, None]]

synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)


def test_get_lidar_camera_synced_frame_info_3():
image_timestamp_list = [0.07, 0.17, 0.27, 0.37, 0.47]
image_timestamp_list = [0.11, 0.21, 0.31, 0.41, 0.51]
lidar_timestamp_list = [0.0, 0.1, 0.2, 0.3, 0.4]
expected = [[0, 0, None], [1, 1, None], [2, 2, None], [3, 3, None], [4, 4, None]]

synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)


def test_get_lidar_camera_synced_frame_info_4():
image_timestamp_list = [0.11, 0.21, 0.31, 0.41, 0.51]
image_timestamp_list = [0.14, 0.24, 0.34, 0.44, 0.54]
lidar_timestamp_list = [0.0, 0.1, 0.2, 0.3, 0.4]
expected = [[0, 0, None], [1, 1, None], [2, 2, None], [3, 3, None], [4, 4, None]]

synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)
Expand All @@ -101,9 +101,9 @@ def test_get_lidar_camera_synced_frame_info_5():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)
Expand All @@ -117,9 +117,9 @@ def test_get_lidar_camera_synced_frame_info_6():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)
Expand All @@ -133,9 +133,9 @@ def test_get_lidar_camera_synced_frame_info_7():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=len(lidar_timestamp_list),
)
assert_synced_frame_info_list(expected, synced_frame_info_list)
Expand All @@ -149,9 +149,9 @@ def test_get_lidar_camera_synced_frame_info_accept_drop_frame_false():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=False,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=False,
num_load_frames=5,
)

Expand All @@ -164,9 +164,9 @@ def test_get_lidar_camera_synced_frame_info_accept_drop_frame_false():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=False,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=False,
num_load_frames=5,
)

Expand All @@ -180,9 +180,9 @@ def test_get_lidar_camera_synced_frame_info_num_load_frames():
synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
image_timestamp_list=image_timestamp_list,
lidar_timestamp_list=lidar_timestamp_list,
accept_frame_drop=True,
lidar_to_camera_latency_sec=0.05,
system_scan_period=0.1,
camera_latency_sec=0.02,
accept_frame_drop=True,
num_load_frames=num_load_frames,
)
assert_synced_frame_info_list(expected, synced_frame_info_list)

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