Create convert_rodnet_to_rod2021.py

tools/format_transform/convert_rodnet_to_rod2021.py

+import os
+
+from cruw.cruw import CRUW
+
+rodnet_res_dir = '/mnt/disk1/CRUW/ROD2021/RODNet/results/rodnet-hg1wi-win16'
+convert_res_dir = '/mnt/disk1/CRUW/ROD2021/RODNet/results/rodnet-hg1wi-win16-convert'
+
+SEQ_NAMES = ['2019_05_28_CM1S013', '2019_05_28_MLMS005', '2019_05_28_PBMS006', '2019_05_28_PCMS004',
+             '2019_05_28_PM2S012', '2019_05_28_PM2S014', '2019_09_18_ONRD004', '2019_09_18_ONRD009',
+             '2019_09_29_ONRD012', '2019_10_13_ONRD048']
+
+dataset = CRUW(data_root='/mnt/disk1/CRUW')
+
+seq_names = os.listdir(rodnet_res_dir)
+if not os.path.exists(convert_res_dir):
+    os.makedirs(convert_res_dir)
+for seq_name in seq_names:
+    if seq_name.upper() in SEQ_NAMES:
+        txt_name_in = os.path.join(rodnet_res_dir, seq_name, 'rod_res.txt')
+        txt_name_out = os.path.join(convert_res_dir, seq_name.upper() + '.txt')
+        with open(txt_name_in, 'r') as f:
+            data = f.readlines()
+        f_out = open(txt_name_out, 'w')
+        for line in data:
+            frameid, class_name, rid, aid, conf = line.rstrip().split()
+            rid = int(rid)
+            aid = int(aid)
+            r = dataset.range_grid[rid]
+            a = dataset.angle_grid[aid]
+            conf = float(conf)
+            if conf > 1:
+                conf = 1.0
+            f_out.write("%s %.4f %.4f %s %.4f\n" % (frameid, r, a, class_name, conf))