def __init__()

in lib/datasets/frustum_dataset.py [0:0]

• 50 lines of code
• 3 McCabe index (conditional complexity)

    def __init__(self, dataset_helper, npoints,
                 pickle_file,feat_file, random_flip=False,
                 random_shift=False, rotate_to_center=False,
                 from_rgb_detection=False, logger=None):
        '''
        Input:
            npoints: int scalar, number of points for frustum point cloud.
            random_flip: bool, in 50% randomly flip the point cloud
                in left and right (after the frustum rotation if any)
            random_shift: bool, if True randomly shift the point cloud
                back and forth by a random distance
            rotate_to_center: bool, whether to do frustum rotation
            from_rgb_detection: bool, if True we assume we do not have
                groundtruth, just return data elements.
            logger: logger
        '''

        self.npoints = npoints
        self.random_flip = random_flip
        self.random_shift = random_shift
        self.rotate_to_center = rotate_to_center
        self.from_rgb_detection = from_rgb_detection
        self.logger = logger
        self.pickle_file = pickle_file
        self.feat_file = feat_file

        self.dataset_helper = dataset_helper


        if logger is not None:
            logger.info('Load data from %s' %(self.pickle_file))

        with open(self.feat_file,'rb') as fp:
            self.rgb_feat_list = pickle.load(fp)
        print('==========>',len(self.rgb_feat_list))

        if self.from_rgb_detection:
            with open(self.pickle_file,'rb') as fp:
                self.id_list = pickle.load(fp)
                self.box2d_list = pickle.load(fp)
                self.input_list = pickle.load(fp)
                self.type_list = pickle.load(fp)
                self.frustum_angle_list = pickle.load(fp)
                self.prob_list = pickle.load(fp)
        else:
            with open(self.pickle_file, 'rb') as fp:
                self.id_list = pickle.load(fp)
                self.box2d_list = pickle.load(fp)
                self.box3d_list = pickle.load(fp)
                self.input_list = pickle.load(fp)
                self.label_list = pickle.load(fp)
                self.type_list = pickle.load(fp)
                self.heading_list = pickle.load(fp)
                self.size_list = pickle.load(fp)
                self.frustum_angle_list = pickle.load(fp)
        print('==========>',len(self.id_list))