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fix: adjust bbox mask based on frame and sensor #79

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merged 3 commits into from
Feb 20, 2024
Merged

fix: adjust bbox mask based on frame and sensor #79

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05d2247
fix: adjust bbox mask based on frame and sensor
maciejmajek Feb 16, 2024
92d1c65
Merge branch 'main' into Maciejeg/patch_camera_bbox_masking
ktro2828 Feb 20, 2024
18abdf1
Merge branch 'main' into Maciejeg/patch_camera_bbox_masking
maciejmajek Feb 20, 2024
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8 changes: 5 additions & 3 deletions perception_dataset/t4_dataset/annotation_files_generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -279,10 +279,12 @@ def _convert_to_t4_format(

# Object Annotation
if "two_d_box" in anno.keys():
anno_two_d_box: List[float] = self._clip_bbox(anno["two_d_box"], mask)
sensor_id: int = int(anno["sensor_id"])
if frame_index not in frame_index_to_sample_data_token[sensor_id]:
continue
anno_two_d_box: List[float] = self._clip_bbox(
anno["two_d_box"], mask[sensor_id][frame_index]
)
self._object_ann_table.insert_into_table(
sample_data_token=frame_index_to_sample_data_token[sensor_id][frame_index],
instance_token=instance_token,
Expand All @@ -292,10 +294,10 @@ def _convert_to_t4_format(
mask=mask[sensor_id][frame_index],
)

def _clip_bbox(self, bbox: List[float], mask: any) -> List[float]:
def _clip_bbox(self, bbox: List[float], mask: Dict[str, Any]) -> List[float]:
"""Clip the bbox to the image size."""
try:
width, height = list(mask[0].values())[0]["size"]
width, height = mask["size"]
bbox[0] = max(0, bbox[0])
bbox[1] = max(0, bbox[1])
bbox[2] = min(width, bbox[2])
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