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writeKITTILabels.m
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writeKITTILabels.m
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function writeKITTILabels(objects,label_dir,img_idx)
% parse input file
fid = fopen(sprintf('%s/%06d.txt',label_dir,img_idx),'w');
% for all objects do
for o = 1:numel(objects)
% set label, truncation, occlusion
if isfield(objects(o),'type'), fprintf(fid,'%s ',objects(o).type);
else error('ERROR: type not specified!'), end;
if isfield(objects(o),'truncation'), fprintf(fid,'%.2f ',objects(o).truncation);
else fprintf(fid,'-1 '); end; % default
if isfield(objects(o),'occlusion'), fprintf(fid,'%.d ',objects(o).occlusion);
else fprintf(fid,'-1 '); end; % default
if isfield(objects(o),'alpha'), fprintf(fid,'%.2f ',wrapToPi(objects(o).alpha));
else fprintf(fid,'-10 '); end; % default
% set 2D bounding box in 0-based C++ coordinates
if isfield(objects(o),'x1'), fprintf(fid,'%.2f ',objects(o).x1);
else error('ERROR: x1 not specified!'); end;
if isfield(objects(o),'y1'), fprintf(fid,'%.2f ',objects(o).y1);
else error('ERROR: y1 not specified!'); end;
if isfield(objects(o),'x2'), fprintf(fid,'%.2f ',objects(o).x2);
else error('ERROR: x2 not specified!'); end;
if isfield(objects(o),'y2'), fprintf(fid,'%.2f ',objects(o).y2);
else error('ERROR: y2 not specified!'); end;
% set 3D bounding box
if isfield(objects(o),'h'), fprintf(fid,'%.2f ',objects(o).h);
else fprintf(fid,'-1 '); end; % default
if isfield(objects(o),'w'), fprintf(fid,'%.2f ',objects(o).w);
else fprintf(fid,'-1 '); end; % default
if isfield(objects(o),'l'), fprintf(fid,'%.2f ',objects(o).l);
else fprintf(fid,'-1 '); end; % default
if isfield(objects(o),'t'), fprintf(fid,'%.2f %.2f %.2f ',objects(o).t);
else fprintf(fid,'-1000 -1000 -1000 '); end; % default
if isfield(objects(o),'ry'), fprintf(fid,'%.2f ',wrapToPi(objects(o).ry));
else fprintf(fid,'-10 '); end; % default
% set score
if isfield(objects(o),'score'), fprintf(fid,'%.2f ',objects(o).score);
%else error('ERROR: score not specified!');
end;
% next line
fprintf(fid,'\n');
end
% close file
fclose(fid);
function alpha = wrapToPi(alpha)
% wrap to [0..2*pi]
alpha = mod(alpha,2*pi);
% wrap to [-pi..pi]
idx = alpha>pi;
alpha(idx) = alpha(idx)-2*pi;