process_frame_p4.py

from scheduling.misc import *
from scheduling.TaskEntity import *


# read the input bounding box data from file
box_info = read_json_file('../dataset/waymo_ground_truth_flat.json')

frame_num = 0
boxes = {}

def skip(box):
    global frame_num
    for tuple in boxes.keys():
        diffx = abs(box[0] - tuple[0])
        diffy = abs(box[1] - tuple[1])

        if diffx + diffy < 5:
            if frame_num - boxes[tuple] < 10:
                return True
            else:
                boxes.pop(tuple)
                boxes[(box[0], box[1])] = frame_num

    boxes[(box[0], box[1])] = frame_num
    return False




def process_frame(frame):
    """Process frame for scheduling.

    Process a image frame to obtain cluster boxes and corresponding scheduling parameters
    for scheduling. 

    Student's code here.

    Args:
        param1: The image frame to be processed. 

    Returns:
        A list of tasks with each task containing image_path and other necessary information. 
    """

    cluster_boxes_data = get_bbox_info(frame, box_info)
    cluster_boxes_data.sort(key=lambda x : x[4])
    task_list = []
    # student's code here
    for i in range(len(cluster_boxes_data)):
        if skip(cluster_boxes_data[i]):
            continue
        task_list.append(TaskEntity(image_path=frame.path, coord=box[:4], priority=i, depth=box[4]))
    global frame_num
    frame_num += 1

    return task_list