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fix bug of loading testset label #90

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merged 3 commits into from
Mar 22, 2023
Merged

fix bug of loading testset label #90

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51f8628
fix bug of loading testset label
Aug 27, 2022
e119cab
Update src/av2/datasets/sensor/sensor_dataloader.py
benjaminrwilson Mar 22, 2023
3c91e22
Update src/av2/datasets/sensor/sensor_dataloader.py
benjaminrwilson Mar 22, 2023
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5 changes: 4 additions & 1 deletion src/av2/datasets/sensor/sensor_dataloader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,8 @@ def _build_sensor_cache(self) -> pd.DataFrame:
if self.with_cache and sensor_cache_path.exists():
logger.info("Cache found. Loading from disk ...")
sensor_cache = read_feather(sensor_cache_path)
if self.with_annotations:
sensor_cache = sensor_cache[sensor_cache.split != "test"]
else:
lidar_records = self.populate_lidar_records()
# Load camera records if enabled.
Expand Down Expand Up @@ -338,7 +340,8 @@ def __getitem__(self, idx: int) -> SynchronizedSensorData:

# Load annotations if enabled.
if self.with_annotations:
datum.annotations = self._load_annotations(split, log_id, timestamp_ns)
if split != "test":
datum.annotations = self._load_annotations(split, log_id, timestamp_ns)

# Load camera imagery if enabled.
if self.cam_names:
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2 changes: 2 additions & 0 deletions tutorials/generate_sensor_dataset_visualizations.py
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Expand Up @@ -51,6 +51,8 @@ def generate_sensor_dataset_visualizations(
for _, datum in enumerate(track(dataset, "Creating sensor tutorial videos ...")):
sweep = datum.sweep
annotations = datum.annotations
if annotations is None:
continue

timestamp_city_SE3_ego_dict = datum.timestamp_city_SE3_ego_dict
synchronized_imagery = datum.synchronized_imagery
Expand Down