Support test split

kitti_object.py

@@ -83,7 +83,7 @@ def get_label_objects(self, idx):
         return utils.read_label(label_filename)
 
     def get_pred_objects(self, idx):
-        assert(idx<self.num_samples and self.split=='training')
+        assert(idx<self.num_samples)
         pred_filename = os.path.join(self.pred_dir, '%06d.txt'%(idx))
         is_exist = os.path.exists(pred_filename)
         if is_exist:
@@ -571,14 +571,17 @@ def bbox3d(obj):
     Image.fromarray(top_image).show()
 
 def dataset_viz(root_dir, args):
-    dataset = kitti_object(root_dir, args=args)
+    dataset = kitti_object(root_dir, split=args.split, args=args)
     ## load 2d detection results
     objects2ds = read_det_file('box2d.list')
     for data_idx in range(len(dataset)):
         if args.ind>0:
             data_idx=args.ind
         # Load data from dataset
-        objects = dataset.get_label_objects(data_idx)
+        if args.split == 'training':
+            objects = dataset.get_label_objects(data_idx)
+        else:
+            objects = []
         objects2d = objects2ds[data_idx]
 
         objects_pred = None
@@ -656,7 +659,7 @@ def dataset_viz(root_dir, args):
             break
 
 def depth_to_lidar_format(root_dir, args):
-    dataset = kitti_object(root_dir, args=args)
+    dataset = kitti_object(root_dir, split=args.split, args=args)
     for data_idx in range(len(dataset)):
         # Load data from dataset
 
@@ -703,6 +706,8 @@ def read_det_file(det_filename):
                         help='input  (default: data/object)')
     parser.add_argument('-p','--pred', action='store_true', help='show predict results')
     parser.add_argument('-s','--stat', action='store_true', help=' stat the w/h/l of point cloud in gt bbox')
+    parser.add_argument('--split', type=str,  default='training',
+                        help='use training split or testing split (default: training)')
     parser.add_argument('-l','--lidar', type=str, default="velodyne", metavar='N',
                         help='velodyne dir  (default: velodyne)')
     parser.add_argument('-e','--depthdir', type=str, default="depth", metavar='N',
@@ -724,7 +729,7 @@ def read_det_file(det_filename):
     parser.add_argument('--show_lidar_topview_with_boxes', action='store_true', help='show lidar topview')
     args = parser.parse_args()
     if args.pred:
-        assert os.path.exists(args.dir+"/training/pred")
+        assert os.path.exists(args.dir+"/" + args.split + "/pred")
 
     if args.vis:
         dataset_viz(args.dir, args)