custom_nuscenes_splits.py

# custom DAY/RAIN/NIGHT split of the nuscenes val split
# adapted from nuscenes/utils/splits.py

# mapping from scene_names to scene_tokens
"""
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"""

val_day = \
        ['scene-0003', 'scene-0012', 'scene-0013', 'scene-0014', 'scene-0015', 'scene-0016', 'scene-0017', 'scene-0018',
         'scene-0035', 'scene-0036',
         'scene-0038', 'scene-0039', 'scene-0092', 'scene-0093', 'scene-0094', 'scene-0095', 'scene-0096', 'scene-0097',
         'scene-0098', 'scene-0099',
         'scene-0100', 'scene-0101', 'scene-0102', 'scene-0103', 'scene-0104', 'scene-0105', 'scene-0106', 'scene-0107',
         'scene-0108', 'scene-0109',
         'scene-0110', 'scene-0221', 'scene-0268', 'scene-0269', 'scene-0270', 'scene-0271', 'scene-0272', 'scene-0273',
         'scene-0274', 'scene-0275',
         'scene-0276', 'scene-0277', 'scene-0278', 'scene-0329', 'scene-0330', 'scene-0331', 'scene-0332', 'scene-0344',
         'scene-0345', 'scene-0346',
         'scene-0519', 'scene-0520', 'scene-0521', 'scene-0522', 'scene-0523', 'scene-0524', 'scene-0552', 'scene-0553',
         'scene-0554', 'scene-0555',
         'scene-0556', 'scene-0557', 'scene-0558', 'scene-0559', 'scene-0560', 'scene-0561', 'scene-0562', 'scene-0563',
         'scene-0564', 'scene-0565',
         'scene-0770', 'scene-0771', 'scene-0775', 'scene-0777', 'scene-0778', 'scene-0780', 'scene-0781', 'scene-0782',
         'scene-0783', 'scene-0784',
         'scene-0794', 'scene-0795', 'scene-0796', 'scene-0797', 'scene-0798', 'scene-0799', 'scene-0800', 'scene-0802',
         'scene-0916', 'scene-0917',
         'scene-0919', 'scene-0920', 'scene-0921', 'scene-0922', 'scene-0923', 'scene-0924', 'scene-0925', 'scene-0926',
         'scene-0927', 'scene-0928',
         'scene-0929', 'scene-0930', 'scene-0931', 'scene-0962', 'scene-0963', 'scene-0966', 'scene-0967', 'scene-0968',
         'scene-0969', 'scene-0971',
         'scene-0972']

val_rain = \
         ['scene-0625', 'scene-0626', 'scene-0627', 'scene-0629', 'scene-0630', 'scene-0632', 'scene-0633',
          'scene-0634', 'scene-0635', 'scene-0636',
          'scene-0637', 'scene-0638', 'scene-0904', 'scene-0905', 'scene-0906', 'scene-0907', 'scene-0908',
          'scene-0909', 'scene-0910', 'scene-0911',
          'scene-0912', 'scene-0913', 'scene-0914', 'scene-0915']

val_night = \
          ['scene-1059', 'scene-1060', 'scene-1061', 'scene-1062', 'scene-1063', 'scene-1064', 'scene-1065',
           'scene-1066', 'scene-1067', 'scene-1068',
           'scene-1069', 'scene-1070', 'scene-1071', 'scene-1072', 'scene-1073']


def create_drn_eval_split_scenes(verbose: bool = False) -> dict[str, list[str]]:
    """
    Similar to create_splits_scenes() in nuscenes, but returns a mapping from split to scene names, for
    day, rain, night (drn) or all scenes in that new order.
    The splits are as follows:
    - val_day: all day scenes without rain
    - val_rain: all rainy scenes (day and night)
    - val_night: all night scenes
    - val_all: val_day + val_rain + val_night

    Args:
        verbose (bool): Whether to print out statistics on a scene level.

    Returns:
        A mapping from split name to a list of scenes names in that split.
    """
    # Use hard-coded splits.
    val_all = val_day + val_rain + val_night
    assert len(val_all) == 150 and len(set(val_all)) == 150, 'Error: Splits incomplete!'

    scene_splits = {'val_day': val_day,         # idx: 0 to 110     len: 111
                    'val_rain': val_rain,       # idx: 111 to 134   len:  24
                    'val_night': val_night,     # idx: 135 to 149   len:  15
                    'val_all': val_all
                    }

    # Optional: Print scene-level stats.
    if verbose:
        for split, scenes in scene_splits.items():
            print('%s: %d' % (split, len(scenes)))
            print('%s' % scenes)

    return scene_splits