111111111

raceback (most recent call last):
  File "kitti_dataloader.py", line 139, in
    dataloader = create_val_dataloader(configs)
  File "kitti_dataloader.py", line 54, in create_val_dataloader
    multiscale=False, num_samples=configs.num_samples, mosaic=False, random_padding=False)
  File "../data_process/kitti_dataset.py", line 59, in __init__
    self.sample_id_list = self.remove_invalid_idx(self.image_idx_list)
  File "../data_process/kitti_dataset.py", line 183, in remove_invalid_idx
    sample_id = int(sample_id)
ValueError: invalid literal for int() with base 10: ''

def show_image_with_boxes(img, objects, calib, show3d=False):
    """ Show image with 2D bounding boxes """
    img1 = np.copy(img)  # for 2d bbox
    img2 = np.copy(img)  # for 3d bbox
    # img3 = np.copy(img)  # for 3d bbox
    # TODO: change the color of boxes
    for obj in objects:
        if obj.type == "DontCare":
            continue
        if obj.type == "Car":
            cv2.rectangle(
                img1,
                (int(obj.xmin), int(obj.ymin)),
                (int(obj.xmax), int(obj.ymax)),
                (0, 255, 0),
                2,
            )
        if obj.type == "Pedestrian":
            cv2.rectangle(
                img1,
                (int(obj.xmin), int(obj.ymin)),
                (int(obj.xmax), int(obj.ymax)),
                (255, 255, 0),
                2,
            )
        if obj.type == "Cyclist":
            cv2.rectangle(
                img1,
                (int(obj.xmin), int(obj.ymin)),
                (int(obj.xmax), int(obj.ymax)),
                (0, 255, 255),
                2,
            )
        box3d_pts_2d, box3d_pts_3d = kitti_data_utils.compute_box_3d(obj, calib.P) # 获得3d框在图像上的投影(8个点,8x2)
        if box3d_pts_2d is None:
            print("something wrong in the 3D box.")
            continue

        # 绘制图像上的3d框投影
        if obj.type == "Car":
            img2 = kitti_data_utils.draw_projected_box3d(img2, box3d_pts_2d, cnf.colors[obj.cls_id])
        elif obj.type == "Pedestrian":
            img2 = kitti_data_utils.draw_projected_box3d(img2, box3d_pts_2d, cnf.colors[obj.cls_id])
        elif obj.type == "Cyclist":
            img2 = kitti_data_utils.draw_projected_box3d(img2, box3d_pts_2d, cnf.colors[obj.cls_id])

        # project
        # box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
        # box3d_pts_32d = utils.box3d_to_rgb_box00(box3d_pts_3d_velo)
        # box3d_pts_32d = calib.project_velo_to_image(box3d_pts_3d_velo)
        # img3 = utils.draw_projected_box3d(img3, box3d_pts_32d)
    # print("img1:", img1.shape)

    cv2.imshow("2dbox", img1)
    # print("img3:",img3.shape)
    # Image.fromarray(img3).show()
    if show3d:
        # print("img2:",img2.shape)
        cv2.imshow("3dbox", img2)

    return img2

def show_image_with_boxes(img, objects, calib, show3d=False):
    # Show image with 2D bounding boxes 

    img1 = np.copy(img)  # for 2d bbox
    img2 = np.copy(img)  # for 3d bbox
    for obj in objects:
        if obj.type == 'DontCare': 
            continue
        cv2.rectangle(img1, (int(obj.xmin),int(obj.ymin)),
             (int(obj.xmax),int(obj.ymax)), (0,255,0), 2)
        box3d_pts_2d, box3d_pts_3d = kitti_data_utils.compute_box_3d(obj, calib.P)
        if box3d_pts_2d is not None:
            img2 = kitti_data_utils.draw_projected_box3d(img2, box3d_pts_2d, cnf.colors[obj.cls_id])
    if show3d:
        cv2.imshow("img", img2)
    return img2