create_lmdb_kitti_dataset.py 文件源码

def readGroundTruth(datasetTxtFilepath):
    sunDirList = []
    imageFileNames = []
    with open(datasetTxtFilepath) as f:
        for line in f:
            lineItems = line.split()
            fname = lineItems[0]

            sunDir = lineItems[1:4]
            sunDir = [float(i) for i in sunDir]

            if azZenTarget:
                sunAzZen = [0, 0]
                sunAzZen[0] = math.degrees(math.atan2(sunDir[0], sunDir[2]))
                sunAzZen[1] = math.degrees(math.acos(-sunDir[1]))
                sunDirList.append(sunAzZen)
            else:
                sunDirList.append(sunDir)
            imageFileNames.append(fname)

    return sunDirList, imageFileNames