diff --git a/Dockerfile b/Dockerfile index 582582c76..2098e9d7b 100644 --- a/Dockerfile +++ b/Dockerfile @@ -67,6 +67,8 @@ RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_eval RUN python3 -m pip --no-cache-dir install \ setuptools==60.2.0 \ transformers==4.51.3 \ + onnx_graphsurgeon==0.5.8 \ + spconv-cu120==2.3.6 \ polars==1.37.1 # NOTE(knzo25): this patch is needed to use numpy versions over 1.23.5 (version used in mmdet3d 1.4.0) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/base.py index f3791af0c..c92d58431 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/base.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/base.py @@ -28,8 +28,10 @@ "db_j6gen2_v6", "db_j6gen2_v7", "db_j6gen2_v8", + "db_j6gen2_v9", "db_largebus_v1", "db_largebus_v2", + "db_largebus_v3", "db_jpntaxi_v1", "db_jpntaxi_v2", "db_jpntaxi_v4", @@ -39,14 +41,16 @@ "db_j6_v3", "db_j6_v5", ] + +# TODO (KokSeang): This will be removed to avoid repeatitive computation +# Dataset set, test info files, and enable/disable evaluation of prefix dataset_test_groups = { - "db_jpntaxi_gen2_base": "t4dataset_jpntaxi_gen2_base_infos_test.pkl", - "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl", - "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl", - "db_largebus": "t4dataset_largebus_infos_test.pkl", - "db_jpntaxi": "t4dataset_xx1_infos_test.pkl", - "db_j6": "t4dataset_x2_infos_test.pkl", - "db_base": "t4dataset_base_infos_test.pkl", + "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", False), + "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False), + "largebus": ("t4dataset_largebus_infos_test.pkl", False), + "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", False), + "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False), + "base": ("t4dataset_base_infos_test.pkl", True), } # dataset format setting diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2.py b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2.py index 76dabddc3..3c8675c13 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2.py @@ -26,13 +26,11 @@ "db_j6gen2_v6", "db_j6gen2_v7", "db_j6gen2_v8", + "db_j6gen2_v9", ] dataset_test_groups = { - "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl", - "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl", - "db_largebus": "t4dataset_largebus_infos_test.pkl", - "db_gen2_base": "t4dataset_gen2_base_infos_test.pkl", + "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", True), } # dataset format setting diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py index d2db24f30..cc3a86d3e 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py @@ -26,15 +26,16 @@ "db_j6gen2_v6", "db_j6gen2_v7", "db_j6gen2_v8", + "db_j6gen2_v9", "db_largebus_v1", "db_largebus_v2", + "db_largebus_v3", ] dataset_test_groups = { - "db_j6_gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl", - "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl", - "db_largebus": "t4dataset_largebus_infos_test.pkl", - "db_j6_gen2_base": "t4dataset_j6gen2_base_infos_test.pkl", + "largebus": ("t4dataset_largebus_infos_test.pkl", False), + "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False), + "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", True), } # dataset format setting diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py index ec5e40304..28ba4ab33 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py @@ -18,9 +18,8 @@ # dataset scene setting dataset_test_groups = { - "db_jpntaxi_gen2_base": "t4dataset_jpntaxi_gen2_base_infos_test.pkl", - "db_jpntaxi_gen2_v2": "t4dataset_jpntaxi_gen2_v2_infos_test.pkl", - "db_jpntaxi_base": "t4dataset_jpntaxi_base_infos_test.pkl", + "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False), + "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", True), } dataset_version_list = [ diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_v6.py b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2.py similarity index 90% rename from autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_v6.py rename to autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2.py index d69f6d61f..f91bbc22f 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_v6.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2.py @@ -8,23 +8,24 @@ # dataset type setting dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_j6gen2_v6_infos_train.pkl" -info_val_file_name = "t4dataset_j6gen2_v6_infos_val.pkl" -info_test_file_name = "t4dataset_j6gen2_v6_infos_test.pkl" +info_train_file_name = "t4dataset_jpntaxi_gen2_infos_train.pkl" +info_val_file_name = "t4dataset_jpntaxi_gen2_infos_val.pkl" +info_test_file_name = "t4dataset_jpntaxi_gen2_infos_test.pkl" -info_train_statistics_file_name = "t4dataset_j6gen2_v6_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_j6gen2_v6_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_j6gen2_v6_statistics_test.parquet" +info_train_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_train.parquet" +info_val_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_val.parquet" +info_test_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_test.parquet" # dataset scene setting -dataset_version_list = [ - "db_j6gen2_v6", -] - dataset_test_groups = { - "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl", + "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", True), } +dataset_version_list = [ + "db_jpntaxigen2_v1", + "db_jpntaxigen2_v2", +] + # dataset format setting data_prefix = dict( pts="", @@ -36,7 +37,6 @@ CAM_BACK_LEFT="", sweeps="", ) - camera_types = { "CAM_FRONT", "CAM_FRONT_RIGHT", @@ -156,6 +156,7 @@ "data/CAM_BACK_RIGHT", ] +# Add filter attributes filter_attributes = [ ("vehicle.bicycle", "vehicle_state.parked"), ("vehicle.bicycle", "cycle_state.without_rider"), diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py deleted file mode 100644 index b5c8e3c6e..000000000 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py +++ /dev/null @@ -1,192 +0,0 @@ -custom_imports = dict( - imports=[ - "autoware_ml.detection3d.datasets.t4dataset", - "autoware_ml.detection3d.evaluation.t4metric.t4metric", - "autoware_ml.detection3d.evaluation.t4metric.t4metric_v2", - ] -) - -# dataset type setting -dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_jpntaxi_gen2_base_infos_train.pkl" -info_val_file_name = "t4dataset_jpntaxi_gen2_base_infos_val.pkl" -info_test_file_name = "t4dataset_jpntaxi_gen2_base_infos_test.pkl" - -info_train_statistics_file_name = "t4dataset_jpntaxi_gen2_base_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_jpntaxi_gen2_base_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_jpntaxi_gen2_base_statistics_test.parquet" - -# dataset scene setting -dataset_test_groups = { - "db_jpntaxi_gen2_base": "t4dataset_jpntaxi_gen2_base_infos_test.pkl", - "db_jpntaxi_gen2_v2": "t4dataset_jpntaxi_gen2_v2_infos_test.pkl", -} - -dataset_version_list = [ - "db_jpntaxigen2_v1", - "db_jpntaxigen2_v2", -] - -# dataset format setting -data_prefix = dict( - pts="", - CAM_FRONT="", - CAM_FRONT_LEFT="", - CAM_FRONT_RIGHT="", - CAM_BACK="", - CAM_BACK_RIGHT="", - CAM_BACK_LEFT="", - sweeps="", -) -camera_types = { - "CAM_FRONT", - "CAM_FRONT_RIGHT", - "CAM_FRONT_LEFT", - "CAM_BACK", - "CAM_BACK_LEFT", - "CAM_BACK_RIGHT", -} - -# class setting -name_mapping = { - # DBv1.0 - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.emergency (ambulance & police)": "car", - "vehicle.motorcycle": "bicycle", - "vehicle.trailer": "trailer", - "vehicle.truck": "truck", - "vehicle.bicycle": "bicycle", - "vehicle.bus (bendy & rigid)": "bus", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "movable_object.barrier": "barrier", - "movable_object.debris": "debris", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.trafficcone": "traffic_cone", - "movable_object.traffic_cone": "traffic_cone", - "animal": "animal", - "static_object.bicycle_rack": "bicycle_rack", - # DBv1.1 and UCv2.0 - "car": "car", - "truck": "truck", - "bus": "bus", - "trailer": "trailer", - "motorcycle": "bicycle", - "bicycle": "bicycle", - "police_car": "car", - "pedestrian": "pedestrian", - "police_officer": "pedestrian", - "forklift": "car", - "construction_worker": "pedestrian", - "stroller": "pedestrian", - # DBv2.0 and DBv3.0 - "animal": "animal", - "movable_object.barrier": "barrier", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.traffic_cone": "traffic_cone", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "static_object.bicycle rack": "bicycle rack", - "static_object.bollard": "bollard", - "vehicle.ambulance": "car", # Define vehicle.ambulance as car since vehicle.emergency (ambulance & police) is defined as car - "vehicle.bicycle": "bicycle", - "vehicle.bus": "bus", - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.fire": "truck", - "vehicle.motorcycle": "bicycle", - "vehicle.police": "car", - "vehicle.trailer": "trailer", - "vehicle.truck": "truck", - # DBv1.3 - "ambulance": "car", - "kart": "car", - "wheelchair": "pedestrian", - "personal_mobility": "pedestrian", - "fire_truck": "truck", - "semi_trailer": "trailer", - "tractor_unit": "truck", - "construction_vehicle": "truck", -} - -class_names = [ - "car", - "truck", - "bus", - "bicycle", - "pedestrian", -] -num_class = len(class_names) -metainfo = dict(classes=class_names) - -merge_objects = [ - ("truck", ["truck", "trailer"]), -] -merge_type = "extend_longer" # One of ["extend_longer","union", None] - -# visualization -class_colors = { - "car": (30, 144, 255), - "truck": (140, 0, 255), - "construction_vehicle": (255, 255, 0), - "bus": (111, 255, 111), - "trailer": (0, 255, 255), - "barrier": (0, 0, 0), - "motorcycle": (100, 0, 30), - "bicycle": (255, 0, 30), - "pedestrian": (255, 200, 200), - "traffic_cone": (120, 120, 120), -} -camera_panels = [ - "data/CAM_FRONT_LEFT", - "data/CAM_FRONT", - "data/CAM_FRONT_RIGHT", - "data/CAM_BACK_LEFT", - "data/CAM_BACK", - "data/CAM_BACK_RIGHT", -] - -# Add filter attributes -filter_attributes = [ - ("vehicle.bicycle", "vehicle_state.parked"), - ("vehicle.bicycle", "cycle_state.without_rider"), - ("vehicle.bicycle", "motorcycle_state.without_rider"), - ("vehicle.motorcycle", "vehicle_state.parked"), - ("vehicle.motorcycle", "cycle_state.without_rider"), - ("vehicle.motorcycle", "motorcycle_state.without_rider"), - ("bicycle", "vehicle_state.parked"), - ("bicycle", "cycle_state.without_rider"), - ("bicycle", "motorcycle_state.without_rider"), - ("motorcycle", "vehicle_state.parked"), - ("motorcycle", "cycle_state.without_rider"), - ("motorcycle", "motorcycle_state.without_rider"), -] - -evaluator_metric_configs = dict( - evaluation_task="detection", - target_labels=class_names, - center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0], - # plane_distance_thresholds is required for the pass fail evaluation - plane_distance_thresholds=[2.0, 4.0], - iou_2d_thresholds=None, - iou_3d_thresholds=None, - label_prefix="autoware", - # bev minimum distance ranges for each range bucket, must be the same length as max_distance, - # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering - min_distance=[0.0, 50.0, 90.0, 0.0], - # bev maximum distance ranges for each range bucket, must be the same length as min_distance - max_distance=[50.0, 90.0, 121.0, 121.0], - min_point_numbers=0, - matching_class_agnostic_fps=False, -) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_v2.py b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_v2.py deleted file mode 100644 index c5af95490..000000000 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_v2.py +++ /dev/null @@ -1,189 +0,0 @@ -custom_imports = dict( - imports=[ - "autoware_ml.detection3d.datasets.t4dataset", - "autoware_ml.detection3d.evaluation.t4metric.t4metric", - ] -) - -# dataset type setting -dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_jpntaxi_gen2_v2_infos_train.pkl" -info_val_file_name = "t4dataset_jpntaxi_gen2_v2_infos_val.pkl" -info_test_file_name = "t4dataset_jpntaxi_gen2_v2_infos_test.pkl" - -info_train_statistics_file_name = "t4dataset_jpntaxi_gen2_v2_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_jpntaxi_gen2_v2_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_jpntaxi_gen2_v2_statistics_test.parquet" - -# dataset scene setting -dataset_test_groups = { - "db_jpntaxi_gen2_v2": "t4dataset_jpntaxi_gen2_v2_infos_test.pkl", -} - -dataset_version_list = [ - "db_jpntaxigen2_v2", -] - -# dataset format setting -data_prefix = dict( - pts="", - CAM_FRONT="", - CAM_FRONT_LEFT="", - CAM_FRONT_RIGHT="", - CAM_BACK="", - CAM_BACK_RIGHT="", - CAM_BACK_LEFT="", - sweeps="", -) -camera_types = { - "CAM_FRONT", - "CAM_FRONT_RIGHT", - "CAM_FRONT_LEFT", - "CAM_BACK", - "CAM_BACK_LEFT", - "CAM_BACK_RIGHT", -} - -# class setting -name_mapping = { - # DBv1.0 - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.emergency (ambulance & police)": "car", - "vehicle.motorcycle": "bicycle", - "vehicle.trailer": "trailer", - "vehicle.truck": "truck", - "vehicle.bicycle": "bicycle", - "vehicle.bus (bendy & rigid)": "bus", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "movable_object.barrier": "barrier", - "movable_object.debris": "debris", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.trafficcone": "traffic_cone", - "movable_object.traffic_cone": "traffic_cone", - "animal": "animal", - "static_object.bicycle_rack": "bicycle_rack", - # DBv1.1 and UCv2.0 - "car": "car", - "truck": "truck", - "bus": "bus", - "trailer": "trailer", - "motorcycle": "bicycle", - "bicycle": "bicycle", - "police_car": "car", - "pedestrian": "pedestrian", - "police_officer": "pedestrian", - "forklift": "car", - "construction_worker": "pedestrian", - "stroller": "pedestrian", - # DBv2.0 and DBv3.0 - "animal": "animal", - "movable_object.barrier": "barrier", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.traffic_cone": "traffic_cone", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "static_object.bicycle rack": "bicycle rack", - "static_object.bollard": "bollard", - "vehicle.ambulance": "car", # Define vehicle.ambulance as car since vehicle.emergency (ambulance & police) is defined as car - "vehicle.bicycle": "bicycle", - "vehicle.bus": "bus", - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.fire": "truck", - "vehicle.motorcycle": "bicycle", - "vehicle.police": "car", - "vehicle.trailer": "trailer", - "vehicle.truck": "truck", - # DBv1.3 - "ambulance": "car", - "kart": "car", - "wheelchair": "pedestrian", - "personal_mobility": "pedestrian", - "fire_truck": "truck", - "semi_trailer": "trailer", - "tractor_unit": "truck", - "construction_vehicle": "truck", -} - -class_names = [ - "car", - "truck", - "bus", - "bicycle", - "pedestrian", -] -num_class = len(class_names) -metainfo = dict(classes=class_names) - -merge_objects = [ - ("truck", ["truck", "trailer"]), -] -merge_type = "extend_longer" # One of ["extend_longer","union", None] - -# visualization -class_colors = { - "car": (30, 144, 255), - "truck": (140, 0, 255), - "construction_vehicle": (255, 255, 0), - "bus": (111, 255, 111), - "trailer": (0, 255, 255), - "barrier": (0, 0, 0), - "motorcycle": (100, 0, 30), - "bicycle": (255, 0, 30), - "pedestrian": (255, 200, 200), - "traffic_cone": (120, 120, 120), -} -camera_panels = [ - "data/CAM_FRONT_LEFT", - "data/CAM_FRONT", - "data/CAM_FRONT_RIGHT", - "data/CAM_BACK_LEFT", - "data/CAM_BACK", - "data/CAM_BACK_RIGHT", -] - -# Add filter attributes -filter_attributes = [ - ("vehicle.bicycle", "vehicle_state.parked"), - ("vehicle.bicycle", "cycle_state.without_rider"), - ("vehicle.bicycle", "motorcycle_state.without_rider"), - ("vehicle.motorcycle", "vehicle_state.parked"), - ("vehicle.motorcycle", "cycle_state.without_rider"), - ("vehicle.motorcycle", "motorcycle_state.without_rider"), - ("bicycle", "vehicle_state.parked"), - ("bicycle", "cycle_state.without_rider"), - ("bicycle", "motorcycle_state.without_rider"), - ("motorcycle", "vehicle_state.parked"), - ("motorcycle", "cycle_state.without_rider"), - ("motorcycle", "motorcycle_state.without_rider"), -] - -evaluator_metric_configs = dict( - evaluation_task="detection", - target_labels=class_names, - center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0], - # plane_distance_thresholds is required for the pass fail evaluation - plane_distance_thresholds=[2.0, 4.0], - iou_2d_thresholds=None, - iou_3d_thresholds=None, - label_prefix="autoware", - # bev minimum distance ranges for each range bucket, must be the same length as max_distance, - # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering - min_distance=[0.0, 50.0, 90.0, 0.0], - # bev maximum distance ranges for each range bucket, must be the same length as min_distance - max_distance=[50.0, 90.0, 121.0, 121.0], - min_point_numbers=0, - matching_class_agnostic_fps=False, -) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/largebus.py b/autoware_ml/configs/detection3d/dataset/t4dataset/largebus.py index 34f0bf955..b117c3798 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/largebus.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/largebus.py @@ -20,8 +20,14 @@ dataset_version_list = [ "db_largebus_v1", "db_largebus_v2", + "db_largebus_v3", ] +dataset_test_groups = { + "largebus": ("t4dataset_largebus_infos_test.pkl", True), +} + + # dataset format setting data_prefix = dict( pts="", diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/pretrain.py b/autoware_ml/configs/detection3d/dataset/t4dataset/pretrain.py deleted file mode 100644 index 663ec18f3..000000000 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/pretrain.py +++ /dev/null @@ -1,114 +0,0 @@ -custom_imports = dict( - imports=[ - "autoware_ml.detection3d.datasets.t4dataset", - "autoware_ml.detection3d.evaluation.t4metric.t4metric", - "autoware_ml.detection3d.evaluation.t4metric.t4metric_v2", - ] -) - -# dataset type setting -dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_pretrain_infos_train.pkl" -info_val_file_name = "t4dataset_pretrain_infos_val.pkl" -info_test_file_name = "t4dataset_pretrain_infos_test.pkl" - -info_train_statistics_file_name = "t4dataset_pretrain_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_pretrain_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_pretrain_statistics_test.parquet" - -# dataset scene setting -dataset_version_list = [ - "pseudo_j6_v1", - "pseudo_j6_v2", -] - -# dataset format setting -data_prefix = dict(pts="", sweeps="") -camera_types = { - "CAM_FRONT", - "CAM_FRONT_RIGHT", - "CAM_FRONT_LEFT", - "CAM_BACK", - "CAM_BACK_LEFT", - "CAM_BACK_RIGHT", -} - -# class setting, for labels, they all already remapped when they're generated -name_mapping = { - "car": "car", - "truck": "truck", - "bus": "bus", - "bicycle": "bicycle", - "pedestrian": "pedestrian", -} - -class_names = [ - "car", - "truck", - "bus", - "bicycle", - "pedestrian", -] -num_class = len(class_names) -metainfo = dict(classes=class_names) - -merge_objects = [ - ("truck", ["truck", "trailer"]), -] -merge_type = "extend_longer" # One of ["extend_longer","union", None] - -# visualization -class_colors = { - "car": (30, 144, 255), - "truck": (140, 0, 255), - "construction_vehicle": (255, 255, 0), - "bus": (111, 255, 111), - "trailer": (0, 255, 255), - "barrier": (0, 0, 0), - "motorcycle": (100, 0, 30), - "bicycle": (255, 0, 30), - "pedestrian": (255, 200, 200), - "traffic_cone": (120, 120, 120), -} -camera_panels = [ - "data/CAM_FRONT_LEFT", - "data/CAM_FRONT", - "data/CAM_FRONT_RIGHT", - "data/CAM_BACK_LEFT", - "data/CAM_BACK", - "data/CAM_BACK_RIGHT", -] - -# Add filter attributes -filter_attributes = [ - ("vehicle.bicycle", "vehicle_state.parked"), - ("vehicle.bicycle", "cycle_state.without_rider"), - ("vehicle.bicycle", "motorcycle_state.without_rider"), - ("vehicle.motorcycle", "vehicle_state.parked"), - ("vehicle.motorcycle", "cycle_state.without_rider"), - ("vehicle.motorcycle", "motorcycle_state.without_rider"), - ("bicycle", "vehicle_state.parked"), - ("bicycle", "cycle_state.without_rider"), - ("bicycle", "motorcycle_state.without_rider"), - ("motorcycle", "vehicle_state.parked"), - ("motorcycle", "cycle_state.without_rider"), - ("motorcycle", "motorcycle_state.without_rider"), -] - -evaluator_metric_configs = dict( - evaluation_task="detection", - target_labels=class_names, - center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0], - # plane_distance_thresholds is required for the pass fail evaluation - plane_distance_thresholds=[2.0, 4.0], - iou_2d_thresholds=None, - iou_3d_thresholds=None, - label_prefix="autoware", - # bev minimum distance ranges for each range bucket, must be the same length as max_distance, - # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering - min_distance=[0.0, 50.0, 90.0, 0.0], - # bev maximum distance ranges for each range bucket, must be the same length as min_distance - max_distance=[50.0, 90.0, 121.0, 121.0], - min_point_numbers=0, - matching_class_agnostic_fps=False, -) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/x2.py b/autoware_ml/configs/detection3d/dataset/t4dataset/x2.py deleted file mode 100644 index 570645402..000000000 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/x2.py +++ /dev/null @@ -1,143 +0,0 @@ -custom_imports = dict( - imports=[ - "autoware_ml.detection3d.datasets.t4dataset", - "autoware_ml.detection3d.evaluation.t4metric.t4metric", - "autoware_ml.detection3d.evaluation.t4metric.t4metric_v2", - ] -) - -# dataset type setting -dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_x2_infos_train.pkl" -info_val_file_name = "t4dataset_x2_infos_val.pkl" -info_test_file_name = "t4dataset_x2_infos_test.pkl" - -info_train_statistics_file_name = "t4dataset_x2_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_x2_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_x2_statistics_test.parquet" - -# dataset scene setting -dataset_version_list = [ - "db_gsm8_v1", - "db_j6_v1", - "db_j6_v2", - "db_j6_v3", - "db_j6_v5", -] - -# dataset format setting -data_prefix = dict( - pts="", - CAM_FRONT="", - CAM_FRONT_LEFT="", - CAM_FRONT_RIGHT="", - CAM_BACK="", - CAM_BACK_RIGHT="", - CAM_BACK_LEFT="", - sweeps="", -) -camera_types = { - "CAM_FRONT", - "CAM_FRONT_RIGHT", - "CAM_FRONT_LEFT", - "CAM_BACK", - "CAM_BACK_LEFT", - "CAM_BACK_RIGHT", -} - -# class setting -name_mapping = { - "animal": "animal", - "movable_object.barrier": "barrier", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.traffic_cone": "traffic_cone", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "static_object.bicycle rack": "bicycle rack", - "static_object.bollard": "bollard", - "vehicle.ambulance": "truck", - "vehicle.bicycle": "bicycle", - "vehicle.bus": "bus", - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.fire": "truck", - "vehicle.motorcycle": "bicycle", - "vehicle.police": "car", - "vehicle.trailer": "truck", - "vehicle.truck": "truck", - "construction_vehicle": "truck", -} - -class_names = [ - "car", - "truck", - "bus", - "bicycle", - "pedestrian", -] -num_class = len(class_names) -metainfo = dict(classes=class_names) - -merge_objects = None -merge_type = None # One of ["extend_longer","union",None] - -# visualization -class_colors = { - "car": (30, 144, 255), - "truck": (140, 0, 255), - "construction_vehicle": (255, 255, 0), - "bus": (111, 255, 111), - "trailer": (0, 255, 255), - "barrier": (0, 0, 0), - "motorcycle": (100, 0, 30), - "bicycle": (255, 0, 30), - "pedestrian": (255, 200, 200), - "traffic_cone": (120, 120, 120), -} -camera_panels = [ - "data/CAM_FRONT_LEFT", - "data/CAM_FRONT", - "data/CAM_FRONT_RIGHT", - "data/CAM_BACK_LEFT", - "data/CAM_BACK", - "data/CAM_BACK_RIGHT", -] - -# Add filter attributes -filter_attributes = [ - ("vehicle.bicycle", "vehicle_state.parked"), - ("vehicle.bicycle", "cycle_state.without_rider"), - ("vehicle.bicycle", "motorcycle_state.without_rider"), - ("vehicle.motorcycle", "vehicle_state.parked"), - ("vehicle.motorcycle", "cycle_state.without_rider"), - ("vehicle.motorcycle", "motorcycle_state.without_rider"), - ("bicycle", "vehicle_state.parked"), - ("bicycle", "cycle_state.without_rider"), - ("bicycle", "motorcycle_state.without_rider"), - ("motorcycle", "vehicle_state.parked"), - ("motorcycle", "cycle_state.without_rider"), - ("motorcycle", "motorcycle_state.without_rider"), -] - -evaluator_metric_configs = dict( - evaluation_task="detection", - target_labels=class_names, - center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0], - # plane_distance_thresholds is required for the pass fail evaluation - plane_distance_thresholds=[2.0, 4.0], - iou_2d_thresholds=None, - iou_3d_thresholds=None, - label_prefix="autoware", - # bev minimum distance ranges for each range bucket, must be the same length as max_distance, - # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering - min_distance=[0.0, 50.0, 90.0, 0.0], - # bev maximum distance ranges for each range bucket, must be the same length as min_distance - max_distance=[50.0, 90.0, 121.0, 121.0], - min_point_numbers=0, - matching_class_agnostic_fps=False, -) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/xx1.py b/autoware_ml/configs/detection3d/dataset/t4dataset/xx1.py deleted file mode 100644 index 11bce8dca..000000000 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/xx1.py +++ /dev/null @@ -1,160 +0,0 @@ -custom_imports = dict( - imports=[ - "autoware_ml.detection3d.datasets.t4dataset", - "autoware_ml.detection3d.evaluation.t4metric.t4metric", - "autoware_ml.detection3d.evaluation.t4metric.t4metric_v2", - ] -) - -# dataset type setting -dataset_type = "T4Dataset" -info_train_file_name = "t4dataset_xx1_infos_train.pkl" -info_val_file_name = "t4dataset_xx1_infos_val.pkl" -info_test_file_name = "t4dataset_xx1_infos_test.pkl" - -info_train_statistics_file_name = "t4dataset_xx1_statistics_train.parquet" -info_val_statistics_file_name = "t4dataset_xx1_statistics_val.parquet" -info_test_statistics_file_name = "t4dataset_xx1_statistics_test.parquet" - -# dataset scene setting -dataset_version_list = [ - "db_jpntaxi_v1", - "db_jpntaxi_v2", - "db_jpntaxi_v4", -] - -# dataset format setting -data_prefix = dict( - pts="", - sweeps="", - CAM_FRONT="", - CAM_FRONT_LEFT="", - CAM_FRONT_RIGHT="", - CAM_BACK="", - CAM_BACK_RIGHT="", - CAM_BACK_LEFT="", -) -camera_types = { - "CAM_FRONT", - "CAM_FRONT_RIGHT", - "CAM_FRONT_LEFT", - "CAM_BACK", - "CAM_BACK_LEFT", - "CAM_BACK_RIGHT", -} - -# class setting -name_mapping = { - # DBv1.0 - "vehicle.car": "car", - "vehicle.construction": "truck", - "vehicle.emergency (ambulance & police)": "car", - "vehicle.motorcycle": "bicycle", - "vehicle.trailer": "trailer", - "vehicle.truck": "truck", - "vehicle.bicycle": "bicycle", - "vehicle.bus (bendy & rigid)": "bus", - "pedestrian.adult": "pedestrian", - "pedestrian.child": "pedestrian", - "pedestrian.construction_worker": "pedestrian", - "pedestrian.personal_mobility": "pedestrian", - "pedestrian.police_officer": "pedestrian", - "pedestrian.stroller": "pedestrian", - "pedestrian.wheelchair": "pedestrian", - "movable_object.barrier": "barrier", - "movable_object.debris": "debris", - "movable_object.pushable_pullable": "pushable_pullable", - "movable_object.trafficcone": "traffic_cone", - "movable_object.traffic_cone": "traffic_cone", - "animal": "animal", - "static_object.bicycle_rack": "bicycle_rack", - # DBv1.1 and UCv2.0 - "car": "car", - "truck": "truck", - "bus": "bus", - "trailer": "trailer", - "motorcycle": "bicycle", - "bicycle": "bicycle", - "police_car": "car", - "pedestrian": "pedestrian", - "police_officer": "pedestrian", - "forklift": "car", - "construction_worker": "pedestrian", - "stroller": "pedestrian", - # DBv1.3 - "semi_trailer": "trailer", - "tractor_unit": "truck", - "kart": "car", - "unknown": "unknown", - "construction_vehicle": "truck", -} -class_names = [ - "car", - "truck", - "bus", - "bicycle", - "pedestrian", -] -num_class = len(class_names) -metainfo = dict(classes=class_names) - -merge_objects = [ - ("truck", ["truck", "trailer"]), -] -merge_type = "extend_longer" # One of ["extend_longer","union", None] - -# visualization -class_colors = { - "car": (30, 144, 255), - "truck": (140, 0, 255), - "construction_vehicle": (255, 255, 0), - "bus": (111, 255, 111), - "trailer": (0, 255, 255), - "barrier": (0, 0, 0), - "motorcycle": (100, 0, 30), - "bicycle": (255, 0, 30), - "pedestrian": (255, 200, 200), - "traffic_cone": (120, 120, 120), -} -camera_panels = [ - "data/CAM_FRONT_LEFT", - "data/CAM_FRONT", - "data/CAM_FRONT_RIGHT", - "data/CAM_BACK_LEFT", - "data/CAM_BACK", - "data/CAM_BACK_RIGHT", -] - -# Add filter attributes -filter_attributes = [ - ("vehicle.bicycle", "vehicle_state.parked"), - ("vehicle.bicycle", "cycle_state.without_rider"), - ("vehicle.bicycle", "motorcycle_state.without_rider"), - ("vehicle.motorcycle", "vehicle_state.parked"), - ("vehicle.motorcycle", "cycle_state.without_rider"), - ("vehicle.motorcycle", "motorcycle_state.without_rider"), - ("bicycle", "vehicle_state.parked"), - ("bicycle", "cycle_state.without_rider"), - ("bicycle", "motorcycle_state.without_rider"), - ("motorcycle", "vehicle_state.parked"), - ("motorcycle", "cycle_state.without_rider"), - ("motorcycle", "motorcycle_state.without_rider"), -] - -evaluator_metric_configs = dict( - evaluation_task="detection", - target_labels=class_names, - center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0], - # plane_distance_thresholds is required for the pass fail evaluation - plane_distance_thresholds=[2.0, 4.0], - iou_2d_thresholds=None, - iou_3d_thresholds=None, - label_prefix="autoware", - # bev minimum distance ranges for each range bucket, must be the same length as max_distance, - # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering - min_distance=[0.0, 50.0, 90.0, 0.0], - # bev maximum distance ranges for each range bucket, must be the same length as min_distance - max_distance=[50.0, 90.0, 121.0, 121.0], - min_point_numbers=0, - matching_class_agnostic_fps=False, -) diff --git a/autoware_ml/configs/t4dataset/db_jpntaxigen2_v3.yaml b/autoware_ml/configs/t4dataset/db_jpntaxigen2_v3.yaml new file mode 100644 index 000000000..42f2ec9aa --- /dev/null +++ b/autoware_ml/configs/t4dataset/db_jpntaxigen2_v3.yaml @@ -0,0 +1,6914 @@ +train: + - r6ZRDFWf_2024-08-28T19-00-07+0900_003 0 + - VrJnyZb4_2025-02-21T01-00-02+0900_018 0 + - VrJnyZb4_2025-02-20T19-00-32+0900_104 0 + - Pct6CqsV_2025-01-21T10-00-03+0900_100 0 + - Pct6CqsV_2025-06-06T16-00-03+0900_66 0 + - Pct6CqsV_2025-01-09T12-00-02+0900_11 0 + - VrJnyZb4_2025-02-20T21-00-24+0900_074 0 + - dDHRj6bY_2025-06-16T09-51-20+0900_4 0 + - Pct6CqsV_2025-03-19T15-00-03+0900_107 0 + - VrJnyZb4_2025-02-20T18-00-03+0900_010 0 + - dDHRj6bY_2025-05-05T09-00-02+0900_19 0 + - dDHRj6bY_2025-05-08T13-00-02+0900_111 0 + - Pct6CqsV_2025-03-17T14-33-25+0900_26 0 + - 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Pct6CqsV_2025-01-09T10-14-54+0900_50 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_58 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_59 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_6 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_60 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_61 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_62 0 + - Pct6CqsV_2025-06-09T13-12-39+0900_63 0 diff --git a/autoware_ml/detection3d/datasets/transforms/object_min_points_filter.py b/autoware_ml/detection3d/datasets/transforms/object_min_points_filter.py index 3ed510769..26a8c7b18 100644 --- a/autoware_ml/detection3d/datasets/transforms/object_min_points_filter.py +++ b/autoware_ml/detection3d/datasets/transforms/object_min_points_filter.py @@ -1,6 +1,7 @@ from mmcv.transforms import BaseTransform from mmdet3d.structures.ops import box_np_ops from mmengine.registry import TRANSFORMS +import numpy as np @TRANSFORMS.register_module() @@ -122,3 +123,38 @@ def __repr__(self) -> str: repr_str = self.__class__.__name__ repr_str += f"(range_radius={self.range_radius}, min_num_points={self.min_num_points})" return repr_str + + +@TRANSFORMS.register_module() +class IntensityLogNormalization(BaseTransform): + """Filter objects by the number of points in them, if it's less than min_num_points. + + Args: + min_num_points: (int): the number of points to filter objects + """ + + def __init__(self) -> None: + pass + + def transform(self, input_dict: dict) -> dict: + """Call function to filter objects the number of points in them. + + Args: + input_dict (dict): Result dict from loading pipeline. + + Returns: + dict: Results after filtering, 'gt_bboxes_3d', 'gt_labels_3d' \ + keys are updated in the result dict. + """ + points = input_dict["points"] + intensity = points.tensor[:, 3] + intensity = np.log(1 + intensity) + points.tensor[:, 3] = intensity + # input_dict["points"] = points + + return input_dict + + def __repr__(self) -> str: + """str: Return a string that describes the module.""" + repr_str = self.__class__.__name__ + return repr_str diff --git a/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2.py b/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2.py index 1527a0a1c..158675184 100644 --- a/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2.py +++ b/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2.py @@ -236,12 +236,14 @@ def __init__( data_root: str, ann_file: str, training_statistics_parquet_path: str, + testing_statistics_parquet_path: str, validation_statistics_parquet_path: str, dataset_name: str, output_dir: str, experiment_name: str, experiment_group_name: str, write_metric_summary: bool, + evaluate_frame_prefix: bool = True, checkpoint_path: Optional[Union[Path, str]] = None, scene_batch_size: int = 128, num_workers: int = 8, @@ -315,8 +317,10 @@ def __init__( self.t4_metric_v2_dataframe = T4MetricV2DataFrame( output_dataframe_path=self.t4metric_v2_dataframe_output_path, training_statistics_parquet_path=Path(training_statistics_parquet_path), + testing_statistics_parquet_path=Path(testing_statistics_parquet_path), validation_statistics_parquet_path=Path(validation_statistics_parquet_path), ) + self.evaluate_frame_prefix = evaluate_frame_prefix def _create_evaluators( self, @@ -438,9 +442,7 @@ def process(self, data_batch: dict, data_samples: Sequence[dict]) -> None: perception_frame = self._parse_predictions_from_sample(current_time, data_sample, frame_ground_truth) self._save_perception_frame(scene_id, data_sample["sample_idx"], perception_frame) - def _process_evaluator_results( - self, scenes: dict, sample_id_to_prefix_frame_mapping: Dict[str, str] - ) -> Dict[str, Dict[str, float]]: + def _process_evaluator_results(self, scenes: dict) -> Dict[str, Dict[str, float]]: """Process the results for each evaluator. Args: @@ -462,17 +464,18 @@ def _process_evaluator_results( self.logger.error(f"Failed to write scene metrics to output files: {e}") # Aggregate metrics by frame prefix, for example, location and vehicle type - frame_prefix_scores = evaluator.perception_evaluator_manager.get_scene_result_with_prefix() - for frame_prefix_name, metric_dict in frame_prefix_scores.items(): - evaluator_frame_prefix_name = frame_prefix_name + "/" + evaluator_name - - # Process scalar metrics and metadata - aggregated_metric_scalars[evaluator_frame_prefix_name] = self._process_metrics_for_aggregation( - metric_dict, evaluator_name, sample_id_to_prefix_frame_mapping - ) + if self.evaluate_frame_prefix: + frame_prefix_scores = evaluator.perception_evaluator_manager.get_scene_result_with_prefix() + for frame_prefix_name, metric_dict in frame_prefix_scores.items(): + evaluator_frame_prefix_name = frame_prefix_name + "/" + evaluator_name + + # Process scalar metrics and metadata + aggregated_metric_scalars[evaluator_frame_prefix_name] = self._process_metrics_for_aggregation( + metric_dict, evaluator_name + ) - # Process metric data, for example, detection/precisions - aggregated_metric_data[evaluator_frame_prefix_name] = self._aggregate_metrics_data(metric_dict) + # Process metric data, for example, detection/precisions + aggregated_metric_data[evaluator_frame_prefix_name] = self._aggregate_metrics_data(metric_dict) # Aggregate metrics without prefix for each evaluator evaluator_full_name = f"{self.default_evaluator_prefix_name}/{evaluator_name}" @@ -480,7 +483,7 @@ def _process_evaluator_results( # Process scalar metrics and metadata aggregated_metric_scalars[evaluator_full_name] = self._process_metrics_for_aggregation( - final_metric_score, evaluator_name, sample_id_to_prefix_frame_mapping + final_metric_score, evaluator_name ) # Process metric data, for example, detection/precisions @@ -549,15 +552,8 @@ def compute_metrics( # Process all frames and collect results self._process_all_frames(scenes) - # Construct sample_id to prefix frame mapping, assuming sample id is unique across all scenes - sample_id_to_prefix_frame_mapping = { - sample_id: perception_frame.ground_truth_objects.frame_prefix - for _, samples in scenes.items() - for sample_id, perception_frame in samples.items() - } - # Compute final metrics - aggregated_metric_dict = self._process_evaluator_results(scenes, sample_id_to_prefix_frame_mapping) + aggregated_metric_dict = self._process_evaluator_results(scenes) selected_aggregated_metric_dict = aggregated_metric_dict[self.main_evaluator_name] return selected_aggregated_metric_dict # Return the metrics from the main evaluator @@ -997,9 +993,7 @@ def _aggregate_metrics_data( return iterable_metrics - def _process_metrics_for_aggregation( - self, metrics_score: MetricsScore, evaluator_name: str, sample_id_to_prefix_frame_mapping: Dict[str, str] - ) -> Dict[str, float]: + def _process_metrics_for_aggregation(self, metrics_score: MetricsScore, evaluator_name: str) -> Dict[str, float]: """ Process metrics from MetricsScore and return a dictionary of all metrics. @@ -1078,12 +1072,12 @@ def _process_metrics_for_aggregation( metric_dict["metadata/test_max_range"] = selected_evaluator.max_range metric_dict["metadata/test_range_filter_name"] = selected_evaluator.range_filter_name - # Add a distribution of the number of frames for each prefix frame - test_num_frame_distribution = defaultdict(int) - for used_frame in metrics_score.used_frame: - test_num_frame_distribution[sample_id_to_prefix_frame_mapping[used_frame]] += 1 + # # Add a distribution of the number of frames for each prefix frame + # test_num_frame_distribution = defaultdict(int) + # for used_frame in metrics_score.used_frame: + # test_num_frame_distribution[sample_id_to_prefix_frame_mapping[used_frame]] += 1 - metric_dict["metadata/test_num_frame_distribution"] = test_num_frame_distribution + # metric_dict["metadata/test_num_frame_distribution"] = test_num_frame_distribution return metric_dict def _write_aggregated_metrics( diff --git a/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2_dataframe.py b/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2_dataframe.py index e2429cf32..744a7d862 100644 --- a/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2_dataframe.py +++ b/autoware_ml/detection3d/evaluation/t4metric/t4metric_v2_dataframe.py @@ -12,6 +12,7 @@ def __init__( self, output_dataframe_path: Path, training_statistics_parquet_path: Path, + testing_statistics_parquet_path: Path, validation_statistics_parquet_path: Path, ) -> None: """ @@ -23,10 +24,13 @@ def __init__( self.output_dataframe_path = output_dataframe_path self.output_dataframe_path.parent.mkdir(parents=True, exist_ok=True) self.training_statistics_parquet_path = training_statistics_parquet_path + self.testing_statistics_parquet_path = testing_statistics_parquet_path self.validation_statistics_parquet_path = validation_statistics_parquet_path # Load the training statistics parquet file self.training_statistics_df = pl.read_parquet(self.training_statistics_parquet_path) + # Load the testing statistics parquet file + self.testing_statistics_df = pl.read_parquet(self.testing_statistics_parquet_path) # Load the validation statistics parquet file self.validation_statistics_df = pl.read_parquet(self.validation_statistics_parquet_path) @@ -111,6 +115,9 @@ def __call__( # Join the training statistics dataframe with the evaluation dataframe df = df.join(self.training_statistics_df, on=["location", "vehicle_type", "suffix_name"], how="left") + # Join the testing statistics dataframe with the evaluation dataframe + df = df.join(self.testing_statistics_df, on=["location", "vehicle_type", "suffix_name"], how="left") + # Join the validation statistics dataframe with the evaluation dataframe df = df.join(self.validation_statistics_df, on=["location", "vehicle_type", "suffix_name"], how="left") diff --git a/autoware_ml/samplers/frame_object_sampler.py b/autoware_ml/samplers/frame_object_sampler.py index 9b636fecf..b96ea8279 100644 --- a/autoware_ml/samplers/frame_object_sampler.py +++ b/autoware_ml/samplers/frame_object_sampler.py @@ -69,10 +69,16 @@ class LowPedestriansObjectSampler(ObjectSampler): MAPPING_CATEGORY_NAME = "pedestrian" SAMPLER_CATEGORY_NAME = "low_pedestrian" - def __init__(self, height_threshold: float, bev_distance_thresholds: Tuple[float, float, float, float]): + def __init__( + self, + height_threshold: float, + bev_distance_thresholds: Tuple[float, float, float, float], + target_label_index: int, + ): super().__init__() self.height_threshold = height_threshold self.bev_distance_thresholds = bev_distance_thresholds + self.target_label_index = target_label_index @property def sampler_category_name(self) -> str: @@ -82,13 +88,13 @@ def sample(self, frame_ann_info: dict): # Implement the sampling logic for low pedestrian category nearer_bbox_in_ranges = frame_ann_info["gt_bboxes_3d"].in_range_bev(self.bev_distance_thresholds) gt_bbox_height_mask = frame_ann_info["gt_bboxes_3d"].height < self.height_threshold - labels = frame_ann_info["gt_nusc_name"] + labels = frame_ann_info["gt_labels_3d"] for index, (label, gt_bbox_height_mask, nearer_bbox_mask) in enumerate( zip(labels, gt_bbox_height_mask, nearer_bbox_in_ranges) ): if ( frame_ann_info[SAMPLE_CLASS_NAME_KEY][index] == FILTER_CLASS_LABELS - or label != LowPedestriansObjectSampler.MAPPING_CATEGORY_NAME + or label != self.target_label_index or not gt_bbox_height_mask or not nearer_bbox_mask ): diff --git a/pipelines/webauto/download_t4dataset/download_t4dataset.py b/pipelines/webauto/download_t4dataset/download_t4dataset.py index 376c28ae5..73be55642 100644 --- a/pipelines/webauto/download_t4dataset/download_t4dataset.py +++ b/pipelines/webauto/download_t4dataset/download_t4dataset.py @@ -67,13 +67,18 @@ def get_t4dataset_ids(config_path: str) -> list[str]: all_t4dataset_ids = set() for key in required_keys: for t4dataset_ids in data_splits[key]: - t4dataset_ids = t4dataset_ids.split(" ") - if len(t4dataset_ids) == 2: - all_t4dataset_ids.add((t4dataset_ids[0], t4dataset_ids[1])) # (id, version) + t4dataset_ids = t4dataset_ids.split("/") + if len(t4dataset_ids) == 4: + t4dataset_id, t4dataset_version_id, city, vehicle_type = t4dataset_ids + elif len(t4dataset_ids) == 2: + t4dataset_id, t4dataset_version_id = t4dataset_ids elif len(t4dataset_ids) == 1: - all_t4dataset_ids.add((t4dataset_ids[0], -1)) # -1 indicates no version specified + t4dataset_id = t4dataset_ids[0] + t4dataset_version_id = -1 # -1 indicates no version specified else: - raise ValueError(f"Invalid T4Dataset format in {t4dataset_ids}. Use format 'id version' or 'id'.") + raise ValueError(f"Invalid T4Dataset format in {t4dataset_ids}. Use format 'id version' or 'id'.") + + all_t4dataset_ids.add((t4dataset_id, t4dataset_version_id)) return list(all_t4dataset_ids) @@ -308,7 +313,7 @@ def main(): t4dataset_ids = get_t4dataset_ids(config_path) for t4dataset_id, t4dataset_version_id in t4dataset_ids: - with TemporaryDirectory() as temp_dir: + with TemporaryDirectory(dir="/mnt/nvme0n1/tier4_dataset/tmp") as temp_dir: download_t4dataset( config_path, args.webauto_path, diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp.py deleted file mode 100644 index 81ce935cb..000000000 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp.py +++ /dev/null @@ -1,417 +0,0 @@ -_base_ = [ - "../../../../../autoware_ml/configs/detection3d/default_runtime.py", - "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py", - "../../default/second_secfpn_base.py", -] -custom_imports = dict(imports=["projects.CenterPoint.models"], allow_failed_imports=False) -custom_imports["imports"] += _base_.custom_imports["imports"] -custom_imports["imports"] += ["autoware_ml.detection3d.datasets.transforms"] -custom_imports["imports"] += ["autoware_ml.hooks"] -custom_imports["imports"] += ["autoware_ml.backends.mlflowbackend"] -custom_imports["imports"] += ["autoware_ml.samplers"] - -# This is a base file for t4dataset, add the dataset config. -# type, data_root and ann_file of data.train, data.val and data.test -point_cloud_range = [-122.40, -122.40, -3.0, 122.40, 122.40, 5.0] -voxel_size = [0.24, 0.24, 8.0] -grid_size = [1020, 1020, 1] # (122.40 / 0.24 == 510, 510 * 2 == 1020) -sweeps_num = 1 -input_modality = dict( - use_lidar=True, - use_camera=False, - use_radar=False, - use_map=False, - use_external=False, -) -out_size_factor = 2 - -backend_args = None -# backend_args = dict(backend="disk") -point_load_dim = 5 # x, y, z, intensity, ring_id -point_use_dim = 3 # x, y, z -lidar_sweep_dims = [0, 1, 2, 3, 4] - -# eval parameter -eval_class_range = { - "car": 121, - "truck": 121, - "bus": 121, - "bicycle": 121, - "pedestrian": 121, -} - -# user setting -data_root = "data/t4dataset/" -info_directory_path = "info/kokseang/" -train_gpu_size = 4 -train_batch_size = 16 -test_batch_size = 2 -num_workers = 32 -val_interval = 1 -max_epochs = 30 - -experiment_group_name = "centerpoint/jpntaxi_gen2_base/" + _base_.dataset_type -experiment_name = "second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp" -work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name - -train_pipeline = [ - dict( - type="LoadPointsFromFile", - coord_type="LIDAR", - load_dim=point_load_dim, - use_dim=point_load_dim, - backend_args=backend_args, - ), - dict( - type="LoadPointsFromMultiSweeps", - sweeps_num=sweeps_num, - load_dim=point_load_dim, - use_dim=lidar_sweep_dims, - pad_empty_sweeps=True, - remove_close=True, - backend_args=backend_args, - ), - dict(type="LoadAnnotations3D", with_bbox_3d=True, with_label_3d=True), - dict( - type="RandomFlip3D", - sync_2d=False, - flip_ratio_bev_horizontal=0.5, - flip_ratio_bev_vertical=0.5, - ), - dict( - type="GlobalRotScaleTrans", - rot_range=[-1.571, 1.571], - scale_ratio_range=[0.80, 1.20], - translation_std=[1.0, 1.0, 0.2], - ), - dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), - dict(type="ObjectRangeFilter", point_cloud_range=point_cloud_range), - dict(type="ObjectNameFilter", classes={{_base_.class_names}}), - dict(type="ObjectMinPointsFilter", min_num_points=5), - dict(type="PointShuffle"), - dict(type="Pack3DDetInputs", keys=["points", "gt_bboxes_3d", "gt_labels_3d"]), -] - -test_pipeline = [ - dict( - type="LoadPointsFromFile", - coord_type="LIDAR", - load_dim=point_load_dim, - use_dim=point_load_dim, - backend_args=backend_args, - ), - dict( - type="LoadPointsFromMultiSweeps", - sweeps_num=sweeps_num, - load_dim=point_load_dim, - use_dim=lidar_sweep_dims, - pad_empty_sweeps=True, - remove_close=True, - backend_args=backend_args, - test_mode=True, - ), - dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), - dict(type="Pack3DDetInputs", keys=["points", "gt_bboxes_3d", "gt_labels_3d"]), -] - -# construct a pipeline for data and gt loading in show function -# please keep its loading function consistent with test_pipeline (e.g. client) -eval_pipeline = [ - dict( - type="LoadPointsFromFile", - coord_type="LIDAR", - load_dim=point_load_dim, - use_dim=point_load_dim, - backend_args=backend_args, - ), - dict( - type="LoadPointsFromMultiSweeps", - sweeps_num=sweeps_num, - load_dim=point_load_dim, - use_dim=lidar_sweep_dims, - pad_empty_sweeps=True, - remove_close=True, - backend_args=backend_args, - test_mode=True, - ), - dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), - dict(type="Pack3DDetInputs", keys=["points", "gt_bboxes_3d", "gt_labels_3d"]), -] - -train_dataloader = dict( - batch_size=train_batch_size, - num_workers=num_workers, - persistent_workers=True, - sampler=dict(type="DefaultSampler", shuffle=True), - dataset=dict( - type=_base_.dataset_type, - pipeline=train_pipeline, - modality=input_modality, - backend_args=backend_args, - data_root=data_root, - ann_file=info_directory_path + _base_.info_train_file_name, - metainfo=_base_.metainfo, - class_names=_base_.class_names, - test_mode=False, - data_prefix=_base_.data_prefix, - box_type_3d="LiDAR", - ), -) -val_dataloader = dict( - batch_size=test_batch_size, - num_workers=num_workers, - persistent_workers=True, - sampler=dict(type="DefaultSampler", shuffle=False), - dataset=dict( - type=_base_.dataset_type, - data_root=data_root, - ann_file=info_directory_path + _base_.info_val_file_name, - pipeline=test_pipeline, - metainfo=_base_.metainfo, - class_names=_base_.class_names, - modality=input_modality, - data_prefix=_base_.data_prefix, - test_mode=True, - box_type_3d="LiDAR", - backend_args=backend_args, - ), -) -test_dataloader = dict( - batch_size=test_batch_size, - num_workers=num_workers, - persistent_workers=True, - sampler=dict(type="DefaultSampler", shuffle=False), - dataset=dict( - type=_base_.dataset_type, - data_root=data_root, - ann_file=info_directory_path + _base_.info_test_file_name, - pipeline=test_pipeline, - metainfo=_base_.metainfo, - class_names=_base_.class_names, - modality=input_modality, - data_prefix=_base_.data_prefix, - test_mode=True, - box_type_3d="LiDAR", - backend_args=backend_args, - ), -) - -val_evaluator = dict( - type="T4Metric", - data_root=data_root, - ann_file=data_root + info_directory_path + _base_.info_val_file_name, - metric="bbox", - backend_args=backend_args, - class_names={{_base_.class_names}}, - name_mapping={{_base_.name_mapping}}, - eval_class_range=eval_class_range, - filter_attributes=_base_.filter_attributes, -) - -test_evaluator = dict( - type="T4Metric", - data_root=data_root, - ann_file=data_root + info_directory_path + _base_.info_test_file_name, - metric="bbox", - backend_args=backend_args, - class_names={{_base_.class_names}}, - name_mapping={{_base_.name_mapping}}, - eval_class_range=eval_class_range, - filter_attributes=_base_.filter_attributes, - save_csv=True, -) - -model = dict( - data_preprocessor=dict( - type="Det3DDataPreprocessor", - voxel=True, - voxel_layer=dict( - max_num_points=32, - voxel_size=voxel_size, - point_cloud_range=point_cloud_range, - max_voxels=(96000, 96000), - deterministic=True, - ), - ), - pts_voxel_encoder=dict( - type="PillarFeatureNet", - in_channels=5, - feat_channels=[32, 32], - with_distance=False, - with_cluster_center=True, - with_voxel_center=True, - point_cloud_range=point_cloud_range, - voxel_size=voxel_size, - norm_cfg=dict(type="BN1d", eps=1e-3, momentum=0.01), - legacy=False, - ), - pts_middle_encoder=dict(type="PointPillarsScatter", in_channels=32, output_shape=(grid_size[0], grid_size[1])), - pts_backbone=dict( - type="SECOND", - in_channels=32, - out_channels=[64, 128, 256], - layer_nums=[3, 5, 5], - layer_strides=[1, 2, 2], - norm_cfg=dict(type="BN", eps=1e-3, momentum=0.01), - conv_cfg=dict(type="Conv2d", bias=False), - ), - pts_neck=dict( - type="SECONDFPN", - in_channels=[64, 128, 256], - out_channels=[128, 128, 128], - upsample_strides=[0.5, 1, 2], - norm_cfg=dict(type="BN", eps=0.001, momentum=0.01), - upsample_cfg=dict(type="deconv", bias=False), - use_conv_for_no_stride=True, - ), - pts_bbox_head=dict( - type="CenterHead", - in_channels=sum([128, 128, 128]), - tasks=[ - dict(num_class=5, class_names=["car", "truck", "bus", "bicycle", "pedestrian"]), - ], - bbox_coder=dict( - voxel_size=voxel_size, - pc_range=point_cloud_range, - # No filter by range - post_center_range=[-200.0, -200.0, -10.0, 200.0, 200.0, 10.0], - out_size_factor=out_size_factor, - ), - # sigmoid(-4.595) = 0.01 for initial small values - separate_head=dict(type="CustomSeparateHead", init_bias=-4.595, final_kernel=1), - loss_cls=dict(type="mmdet.AmpGaussianFocalLoss", reduction="none", loss_weight=1.0), - loss_bbox=dict(type="mmdet.L1Loss", reduction="mean", loss_weight=0.25), - norm_bbox=True, - ), - train_cfg=dict( - pts=dict( - grid_size=grid_size, - voxel_size=voxel_size, - point_cloud_range=point_cloud_range, - out_size_factor=out_size_factor, - ), - ), - test_cfg=dict( - pts=dict( - grid_size=grid_size, - out_size_factor=out_size_factor, - pc_range=point_cloud_range, - voxel_size=voxel_size, - # No filter by range - post_center_limit_range=[-200.0, -200.0, -10.0, 200.0, 200.0, 10.0], - ), - ), -) - -randomness = dict(seed=0, diff_rank_seed=False, deterministic=True) - -lr = 3e-4 -param_scheduler = [ - # learning rate scheduler - # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10 - # during the next epochs, learning rate decreases from lr * 10 to - # lr * 1e-4 - dict( - type="CosineAnnealingLR", - T_max=8, - eta_min=lr * 10, - begin=0, - end=8, - by_epoch=True, - convert_to_iter_based=True, - ), - dict( - type="CosineAnnealingLR", - T_max=22, - eta_min=lr * 1e-4, - begin=8, - end=max_epochs, - by_epoch=True, - convert_to_iter_based=True, - ), - # momentum scheduler - # During the first (0.3 * max_epochs) epochs, momentum increases from 0 to 0.85 / 0.95 - # during the next epochs, momentum increases from 0.85 / 0.95 to 1 - dict( - type="CosineAnnealingMomentum", - T_max=8, - eta_min=0.85 / 0.95, - begin=0, - end=8, - by_epoch=True, - convert_to_iter_based=True, - ), - dict( - type="CosineAnnealingMomentum", - T_max=22, - eta_min=1, - begin=8, - end=max_epochs, - by_epoch=True, - convert_to_iter_based=True, - ), -] - -# runtime settings -# Run validation for every val_interval epochs before max_epochs - 10, and run validation every 2 epoch after max_epochs - 10 -train_cfg = dict( - by_epoch=True, max_epochs=max_epochs, val_interval=val_interval, dynamic_intervals=[(max_epochs - 5, 1)] -) -val_cfg = dict() -test_cfg = dict() - -optimizer = dict(type="AdamW", lr=lr, weight_decay=0.01) -clip_grad = dict(max_norm=15, norm_type=2) # max norm of gradients upper bound to be 15 since amp is used - -optim_wrapper = dict( - type="AmpOptimWrapper", - dtype="float16", - optimizer=optimizer, - clip_grad=clip_grad, - # Update it accordingly - loss_scale={ - "init_scale": 2.0**12, # intial_scale: 256 - "growth_interval": 600, - }, -) - -# Default setting for scaling LR automatically -# - `enable` means enable scaling LR automatically -# or not by default. -# - `base_batch_size` = (2 GPUs) x (8 samples per GPU). -# auto_scale_lr = dict(enable=False, base_batch_size=32) -auto_scale_lr = dict(enable=False, base_batch_size=train_gpu_size * train_batch_size) - -# Only set if the number of train_gpu_size more than 1 -if train_gpu_size > 1: - sync_bn = "torch" - -vis_backends = [ - dict(type="LocalVisBackend"), - dict(type="TensorboardVisBackend"), - # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), -] -visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") - -logger_interval = 50 -default_hooks = dict( - logger=dict(type="LoggerHook", interval=logger_interval), - checkpoint=dict(type="CheckpointHook", interval=1, max_keep_ckpts=10, save_best="NuScenes metric/T4Metric/mAP"), -) - -custom_hooks = [ - dict(type="MomentumInfoHook"), - dict(type="LossScaleInfoHook"), -] - -# Update the load_from path accordingly -load_from = "" - -activation_checkpointing = ["pts_backbone"] diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp_rfs.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp_rfs.py deleted file mode 100644 index a5e13ba19..000000000 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp_rfs.py +++ /dev/null @@ -1,41 +0,0 @@ -_base_ = [ - "second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp.py", -] - -# user setting -experiment_name = "second_secfpn_4xb16_121m_jpntaxi_gen2_base_amp_rfs" -work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name - -train_frame_object_sampler = dict( - type="FrameObjectSampler", - object_samplers=[ - dict( - type="ObjectBEVDistanceSampler", - bev_distance_thresholds=[ - _base_.point_cloud_range[0], - _base_.point_cloud_range[1], - _base_.point_cloud_range[3], - _base_.point_cloud_range[4], - ], - ), - dict( - type="LowPedestriansObjectSampler", - height_threshold=1.5, - bev_distance_thresholds=[ - -50.0, - -50.0, - 50.0, - 50.0, - ], - ), - ], -) - -train_dataloader = dict( - sampler=dict(type="DistributedWeightedRandomSampler", shuffle=True), - dataset=dict( - type="T4FrameSamplerDataset", - repeat_sampling_factor=0.30, - frame_object_sampler=train_frame_object_sampler, - ), -) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py similarity index 94% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py index 947aa400e..18a29b8e5 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py @@ -7,7 +7,7 @@ custom_imports["imports"] += _base_.custom_imports["imports"] custom_imports["imports"] += ["autoware_ml.detection3d.datasets.transforms"] custom_imports["imports"] += ["autoware_ml.hooks"] -custom_imports["imports"] += ["autoware_ml.backends.mlflowbackend"] +# custom_imports["imports"] += ["autoware_ml.backends.mlflowbackend"] custom_imports["imports"] += ["autoware_ml.samplers"] # This is a base file for t4dataset, add the dataset config. @@ -42,16 +42,16 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" -train_gpu_size = 4 +info_directory_path = "info/kokseang_2_6_1/" +train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 num_workers = 32 val_interval = 5 max_epochs = 50 -experiment_group_name = "centerpoint/base/" + _base_.dataset_type -experiment_name = "second_secfpn_4xb16_121m_base_amp" +experiment_group_name = "centerpoint_2.6.0/base/" + _base_.dataset_type +experiment_name = "second_secfpn_8xb16_121m_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name train_pipeline = [ @@ -131,6 +131,8 @@ "cam2global", "lidar2cam", "ego2global", + "vehicle_type", + "city", ), ), ] @@ -176,6 +178,8 @@ "cam2global", "lidar2cam", "ego2global", + "vehicle_type", + "city", ), ), ] @@ -350,6 +354,7 @@ # learning rate # Since mmengine doesn't support OneCycleMomentum yet, we use CosineAnnealing from the default configs lr = 0.0003 +t_max = 15 param_scheduler = [ # learning rate scheduler # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10 @@ -357,18 +362,18 @@ # lr * 1e-4 dict( type="CosineAnnealingLR", - T_max=int(max_epochs * 0.3), + T_max=t_max, eta_min=lr * 10, begin=0, - end=int(max_epochs * 0.3), + end=t_max, by_epoch=True, convert_to_iter_based=True, ), dict( type="CosineAnnealingLR", - T_max=max_epochs - int(max_epochs * 0.3), + T_max=max_epochs - t_max, eta_min=lr * 1e-4, - begin=int(max_epochs * 0.3), + begin=t_max, end=max_epochs, by_epoch=True, convert_to_iter_based=True, @@ -378,18 +383,18 @@ # during the next epochs, momentum increases from 0.85 / 0.95 to 1 dict( type="CosineAnnealingMomentum", - T_max=int(max_epochs * 0.3), + T_max=t_max, eta_min=0.85 / 0.95, begin=0, - end=int(max_epochs * 0.3), + end=t_max, by_epoch=True, convert_to_iter_based=True, ), dict( type="CosineAnnealingMomentum", - T_max=max_epochs - int(max_epochs * 0.3), + T_max=max_epochs - t_max, eta_min=1, - begin=int(max_epochs * 0.3), + begin=t_max, end=max_epochs, by_epoch=True, convert_to_iter_based=True, @@ -434,13 +439,13 @@ dict(type="LocalVisBackend"), dict(type="TensorboardVisBackend"), # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), + # dict( + # type="SafeMLflowVisBackend", + # exp_name="(UserName) CenterPoint", + # run_name="CenterPoint base", + # tracking_uri="http://localhost:5000", + # artifact_suffix=(), + # ), ] visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_rfs.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_rfs.py similarity index 85% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_rfs.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_rfs.py index f58770930..9193fe522 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_rfs.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_rfs.py @@ -1,9 +1,9 @@ _base_ = [ - "./second_secfpn_4xb16_121m_base_amp.py", + "./second_secfpn_8xb16_121m_base_amp.py", ] # user setting -experiment_name = "second_secfpn_4xb16_121m_base_amp_rfs" +experiment_name = "second_secfpn_8xb16_121m_base_amp_rfs" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name train_frame_object_sampler = dict( @@ -27,6 +27,7 @@ 50.0, 50.0, ], + target_label_index=4, # 4 is the label index for pedestrian ), ], ) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_t4metric_v2.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_t4metric_v2.py similarity index 87% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_t4metric_v2.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_t4metric_v2.py index ae19f1ca8..5f3538312 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_base_amp_t4metric_v2.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp_t4metric_v2.py @@ -1,8 +1,8 @@ _base_ = [ - "./second_secfpn_4xb16_121m_base_amp.py", + "./second_secfpn_8xb16_121m_base_amp.py", ] -experiment_name = "second_secfpn_4xb16_121m_base_amp_t4metric_v2" +experiment_name = "second_secfpn_8xb16_121m_base_amp_rfs_t4metric_v2" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name # Add evaluator configs @@ -19,9 +19,11 @@ matching_threshold_list=[2.0, 2.0, 2.0, 2.0, 2.0], confidence_threshold_list=None, ) + training_statistics_parquet_path = ( _base_.data_root + _base_.info_directory_path + _base_.info_train_statistics_file_name ) +testing_statistics_parquet_path = _base_.data_root + _base_.info_directory_path + _base_.info_test_statistics_file_name validation_statistics_parquet_path = ( _base_.data_root + _base_.info_directory_path + _base_.info_val_statistics_file_name ) @@ -32,6 +34,7 @@ data_root=_base_.data_root, ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_val_file_name, training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, validation_statistics_parquet_path=validation_statistics_parquet_path, output_dir="validation", dataset_name="base", @@ -53,6 +56,7 @@ data_root=_base_.data_root, ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_test_file_name, training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, validation_statistics_parquet_path=validation_statistics_parquet_path, output_dir="testing", dataset_name="base", diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py similarity index 94% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py index 40f42fedf..9b0b61806 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py @@ -7,7 +7,7 @@ custom_imports["imports"] += _base_.custom_imports["imports"] custom_imports["imports"] += ["autoware_ml.detection3d.datasets.transforms"] custom_imports["imports"] += ["autoware_ml.hooks"] -custom_imports["imports"] += ["autoware_ml.backends.mlflowbackend"] +# custom_imports["imports"] += ["autoware_ml.backends.mlflowbackend"] custom_imports["imports"] += ["autoware_ml.samplers"] # This is a base file for t4dataset, add the dataset config. @@ -42,16 +42,16 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" -train_gpu_size = 4 +info_directory_path = "info/kokseang_2_6_1/" +train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 -num_workers = 32 +num_workers = 16 val_interval = 1 max_epochs = 30 -experiment_group_name = "centerpoint/j6gen2_base/" + _base_.dataset_type -experiment_name = "second_secfpn_4xb16_121m_j6gen2_base_amp" +experiment_group_name = "centerpoint_2.6.1/j6gen2_base/" + _base_.dataset_type +experiment_name = "second_secfpn_8xb16_121m_j6gen2_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name train_pipeline = [ @@ -352,7 +352,7 @@ randomness = dict(seed=0, diff_rank_seed=False, deterministic=True) -lr = 3e-4 +lr = 1e-4 param_scheduler = [ # learning rate scheduler # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10 @@ -408,7 +408,7 @@ test_cfg = dict() optimizer = dict(type="AdamW", lr=lr, weight_decay=0.01) -clip_grad = dict(max_norm=15, norm_type=2) # max norm of gradients upper bound to be 15 since amp is used +clip_grad = dict(max_norm=5.0, norm_type=2) # max norm of gradients upper bound to be 15 since amp is used optim_wrapper = dict( type="AmpOptimWrapper", @@ -437,13 +437,13 @@ dict(type="LocalVisBackend"), dict(type="TensorboardVisBackend"), # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), + # dict( + # type="SafeMLflowVisBackend", + # exp_name="(UserName) CenterPoint", + # run_name="CenterPoint base", + # tracking_uri="http://localhost:5000", + # artifact_suffix=(), + # ), ] visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") @@ -459,6 +459,6 @@ ] # Update the load_from path accordingly -load_from = "" +load_from = "work_dirs/centerpoint_2.6.0/base/T4Dataset/second_secfpn_8xb16_121m_base_amp_rfs/epoch_49.pth" activation_checkpointing = ["pts_backbone"] diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_rfs.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_rfs.py similarity index 83% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_rfs.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_rfs.py index 1b5b6d789..767c7e66d 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_rfs.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_rfs.py @@ -1,9 +1,9 @@ _base_ = [ - "second_secfpn_4xb16_121m_j6gen2_base_amp.py", + "second_secfpn_8xb16_121m_j6gen2_base_amp.py", ] # user setting -experiment_name = "second_secfpn_4xb16_121m_j6gen2_base_amp_rfs" +experiment_name = "second_secfpn_8xb16_121m_j6gen2_base_amp_rfs_fixed" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name train_frame_object_sampler = dict( @@ -27,6 +27,7 @@ 50.0, 50.0, ], + target_label_index=4, # 4 is the label index for pedestrian ), ], ) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_t4metric_v2.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_t4metric_v2.py similarity index 84% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_t4metric_v2.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_t4metric_v2.py index a3c1f5d13..e00637e8a 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_t4metric_v2.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_t4metric_v2.py @@ -1,8 +1,8 @@ _base_ = [ - "second_secfpn_4xb16_121m_j6gen2_base_amp.py", + "second_secfpn_8xb16_121m_j6gen2_base_amp.py", ] -experiment_name = "second_secfpn_4xb16_121m_j6gen2_base_amp_t4metric_v2" +experiment_name = "second_secfpn_8xb16_121m_j6gen2_base_amp_rfs_t4metric_v2" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name # Add evaluator configs @@ -23,6 +23,7 @@ training_statistics_parquet_path = ( _base_.data_root + _base_.info_directory_path + _base_.info_train_statistics_file_name ) +testing_statistics_parquet_path = _base_.data_root + _base_.info_directory_path + _base_.info_test_statistics_file_name validation_statistics_parquet_path = ( _base_.data_root + _base_.info_directory_path + _base_.info_val_statistics_file_name ) @@ -33,9 +34,10 @@ data_root=_base_.data_root, ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_val_file_name, training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, validation_statistics_parquet_path=validation_statistics_parquet_path, output_dir="validation", - dataset_name="largebus", + dataset_name="j6gen2_base", perception_evaluator_configs=perception_evaluator_configs, critical_object_filter_config=None, frame_pass_fail_config=frame_pass_fail_config, @@ -54,9 +56,10 @@ data_root=_base_.data_root, ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_test_file_name, training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, validation_statistics_parquet_path=validation_statistics_parquet_path, output_dir="testing", - dataset_name="largebus", + dataset_name="j6gen2_base", perception_evaluator_configs=perception_evaluator_configs, critical_object_filter_config=None, frame_pass_fail_config=frame_pass_fail_config, diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py similarity index 84% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py index 27f90143d..650fa0f68 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py @@ -42,16 +42,16 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" -train_gpu_size = 4 +info_directory_path = "info/kokseang_2_6/" +train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 -num_workers = 32 +num_workers = 16 val_interval = 1 max_epochs = 30 -experiment_group_name = "centerpoint/jpntaxi_base/" + _base_.dataset_type -experiment_name = "second_secfpn_4xb16_121m_jpntaxi_base_amp" +experiment_group_name = "centerpoint_2.6.1/jpntaxi_base/" + _base_.dataset_type +experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name train_pipeline = [ @@ -61,7 +61,9 @@ load_dim=point_load_dim, use_dim=point_load_dim, backend_args=backend_args, + norm_intensity=False ), + dict(type="IntensityLogNormalization"), dict( type="LoadPointsFromMultiSweeps", sweeps_num=sweeps_num, @@ -99,7 +101,9 @@ load_dim=point_load_dim, use_dim=point_load_dim, backend_args=backend_args, + norm_intensity=False ), + dict(type="IntensityLogNormalization"), dict( type="LoadPointsFromMultiSweeps", sweeps_num=sweeps_num, @@ -111,7 +115,30 @@ test_mode=True, ), dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), - dict(type="Pack3DDetInputs", keys=["points", "gt_bboxes_3d", "gt_labels_3d"]), + dict( + type="Pack3DDetInputs", + keys=["points", "gt_bboxes_3d", "gt_labels_3d"], + # Specify the metadata keys required by the downstream pipeline. + # Refer to the official MMDetection3D formatting transform implementation for details: + # https://github.com/open-mmlab/mmdetection3d/blob/main/mmdet3d/datasets/transforms/formating.py#L67 + # Also see the content structure in "t4dataset_base_infos_test.pkl" for reference. + meta_keys=( + "timestamp", + "lidar2img", + "depth2img", + "cam2img", + "box_type_3d", + "sample_idx", + "sample_token", + "lidar_path", + "ori_cam2img", + "cam2global", + "lidar2cam", + "ego2global", + "vehicle_type", + "city", + ), + ), ] # construct a pipeline for data and gt loading in show function @@ -123,6 +150,7 @@ load_dim=point_load_dim, use_dim=point_load_dim, backend_args=backend_args, + norm_intensity=True ), dict( type="LoadPointsFromMultiSweeps", @@ -135,7 +163,30 @@ test_mode=True, ), dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), - dict(type="Pack3DDetInputs", keys=["points", "gt_bboxes_3d", "gt_labels_3d"]), + dict( + type="Pack3DDetInputs", + keys=["points", "gt_bboxes_3d", "gt_labels_3d"], + # Specify the metadata keys required by the downstream pipeline. + # Refer to the official MMDetection3D formatting transform implementation for details: + # https://github.com/open-mmlab/mmdetection3d/blob/main/mmdet3d/datasets/transforms/formating.py#L67 + # Also see the content structure in "t4dataset_base_infos_test.pkl" for reference. + meta_keys=( + "timestamp", + "lidar2img", + "depth2img", + "cam2img", + "box_type_3d", + "sample_idx", + "sample_token", + "lidar_path", + "ori_cam2img", + "cam2global", + "lidar2cam", + "ego2global", + "vehicle_type", + "city", + ), + ), ] train_dataloader = dict( @@ -363,7 +414,7 @@ test_cfg = dict() optimizer = dict(type="AdamW", lr=lr, weight_decay=0.01) -clip_grad = dict(max_norm=15, norm_type=2) # max norm of gradients upper bound to be 15 since amp is used +clip_grad = dict(max_norm=5.0, norm_type=2) # max norm of gradients upper bound to be 15 since amp is used optim_wrapper = dict( type="AmpOptimWrapper", @@ -414,6 +465,6 @@ ] # Update the load_from path accordingly -load_from = "" +load_from = "work_dirs/centerpoint_2.6.0/base/T4Dataset/second_secfpn_8xb16_121m_base_amp_rfs/epoch_49.pth" activation_checkpointing = ["pts_backbone"] diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp_rfs.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py similarity index 82% rename from projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp_rfs.py rename to projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py index 6d2be6fb7..c41b37a34 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_jpntaxi_base_amp_rfs.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py @@ -1,9 +1,9 @@ _base_ = [ - "second_secfpn_4xb16_121m_jpntaxi_base_amp.py", + "second_secfpn_8xb16_121m_jpntaxi_base_amp.py", ] # user setting -experiment_name = "second_secfpn_4xb16_121m_jpntaxi_base_amp_rfs" +experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs_log_norm_intensity" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name train_frame_object_sampler = dict( @@ -27,6 +27,7 @@ 50.0, 50.0, ], + target_label_index=4, # 4 is the label index for pedestrian ), ], ) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_t4metric_v2.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_t4metric_v2.py new file mode 100644 index 000000000..8d91d6c48 --- /dev/null +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_t4metric_v2.py @@ -0,0 +1,79 @@ +_base_ = [ + "second_secfpn_8xb16_121m_jpntaxi_base_amp.py", +] + +experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs_t4metric_v2" +work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name + +# Add evaluator configs +perception_evaluator_configs = dict( + dataset_paths=_base_.data_root, + frame_id="base_link", + evaluation_config_dict=_base_.evaluator_metric_configs, + load_raw_data=False, +) + +frame_pass_fail_config = dict( + target_labels=_base_.class_names, + # Matching thresholds per class (must align with `plane_distance_thresholds` used in evaluation) + matching_threshold_list=[2.0, 2.0, 2.0, 2.0, 2.0], + confidence_threshold_list=None, +) + +training_statistics_parquet_path = ( + _base_.data_root + _base_.info_directory_path + _base_.info_train_statistics_file_name +) +testing_statistics_parquet_path = _base_.data_root + _base_.info_directory_path + _base_.info_test_statistics_file_name +validation_statistics_parquet_path = ( + _base_.data_root + _base_.info_directory_path + _base_.info_val_statistics_file_name +) + +val_evaluator = dict( + _delete_=True, + type="T4MetricV2", + data_root=_base_.data_root, + ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_val_file_name, + training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, + validation_statistics_parquet_path=validation_statistics_parquet_path, + output_dir="validation", + dataset_name="jpntaxi_base", + perception_evaluator_configs=perception_evaluator_configs, + critical_object_filter_config=None, + frame_pass_fail_config=frame_pass_fail_config, + num_workers=64, + scene_batch_size=-1, + write_metric_summary=False, + class_names={{_base_.class_names}}, + name_mapping={{_base_.name_mapping}}, + experiment_name=experiment_name, + experiment_group_name=_base_.experiment_group_name, +) + +test_evaluator = dict( + _delete_=True, + type="T4MetricV2", + data_root=_base_.data_root, + ann_file=_base_.data_root + _base_.info_directory_path + _base_.info_test_file_name, + training_statistics_parquet_path=training_statistics_parquet_path, + testing_statistics_parquet_path=testing_statistics_parquet_path, + validation_statistics_parquet_path=validation_statistics_parquet_path, + output_dir="testing", + dataset_name="jpntaxi_base", + perception_evaluator_configs=perception_evaluator_configs, + critical_object_filter_config=None, + frame_pass_fail_config=frame_pass_fail_config, + num_workers=64, + scene_batch_size=-1, + write_metric_summary=True, + class_names={{_base_.class_names}}, + name_mapping={{_base_.name_mapping}}, + experiment_name=experiment_name, + experiment_group_name=_base_.experiment_group_name, +) + +default_hooks = dict( + checkpoint=dict( + type="CheckpointHook", interval=1, max_keep_ckpts=3, save_best="T4MetricV2/T4MetricV2/mAP_center_distance_bev" + ), +) diff --git a/tools/detection3d/create_data_t4dataset.py b/tools/detection3d/create_data_t4dataset.py index 7f967db6b..9b74aaab0 100644 --- a/tools/detection3d/create_data_t4dataset.py +++ b/tools/detection3d/create_data_t4dataset.py @@ -103,7 +103,7 @@ def get_info( max_sweeps: int, city: Optional[str] = None, vehicle_type: Optional[str] = None, -): +) -> Dict[str, Any]: lidar_token = get_lidar_token(sample) if lidar_token is None: print_log( @@ -278,9 +278,9 @@ def main(): # Generate statistics for this split t4_statistics = { - "train": T4DatasetStatistics(Path(args.out_dir), "train", args.version), - "val": T4DatasetStatistics(Path(args.out_dir), "val", args.version), - "test": T4DatasetStatistics(Path(args.out_dir), "test", args.version), + "train": T4DatasetStatistics(Path(args.out_dir), "train", args.version, cfg.class_names), + "val": T4DatasetStatistics(Path(args.out_dir), "val", args.version, cfg.class_names), + "test": T4DatasetStatistics(Path(args.out_dir), "test", args.version, cfg.class_names), } for dataset_version in cfg.dataset_version_list: dataset_list = osp.join(args.dataset_version_config_root, dataset_version + ".yaml") @@ -295,8 +295,18 @@ def main(): else: sample_steps = 1 + # db_jpntaxigen2_v3 has no sweeps + if dataset_version == "db_jpntaxigen2_v3": + max_sweeps = 0 + + # Do not add val and test to db_jpntaxigen2_v3 + if split == "val" or split == "test": + continue + else: + max_sweeps = args.max_sweeps + for scene_id in dataset_list_dict.get(split, []): - print_log(f"Creating data info for scene: {scene_id}, steps: {sample_steps}") + print_log(f"Creating data info for scene: {scene_id}, steps: {sample_steps}, sweeps: {max_sweeps}") dataset_scene_info = scene_id.split("/") if len(dataset_scene_info) == 4: t4_dataset_id, t4_dataset_version_id, city, vehicle_type = dataset_scene_info @@ -307,7 +317,6 @@ def main(): raise ValueError( "Invalid scene_id format. should be : {t4_dataset_id}/{t4_dataset_version_id}/{city:optional}/{vehicle_type:optional}" ) - scene_root_dir_path = osp.join(args.root_path, dataset_version, t4_dataset_id, t4_dataset_version_id) if not os.path.exists(scene_root_dir_path): if args.use_available_dataset_version: @@ -317,21 +326,24 @@ def main(): scene_root_dir_path = get_scene_root_dir_path(args.root_path, dataset_version, t4_dataset_id) else: raise ValueError(f"{t4_dataset_id} does not exist.") + t4 = Tier4(data_root=scene_root_dir_path, verbose=False) + infos = [] for i in range(0, len(t4.sample), sample_steps): sample = t4.sample[i] - info = get_info(cfg, t4, sample, i, args.max_sweeps, city, vehicle_type) + info = get_info(cfg, t4, sample, i, max_sweeps, city, vehicle_type) # info["version"] = dataset_version # used for visualizations during debugging. t4_infos[split].append(info) + infos.append(info) scene_metadata = T4DatasetSceneMetadata(scene_id, city, vehicle_type) for bev_distance_range in bev_distance_ranges: bucket_name = _get_bucket_name(city, vehicle_type, range_filter_name, bev_distance_range) - t4_statistics[split].add_samples(t4.sample, bucket_name, scene_metadata) + t4_statistics[split].add_samples(t4.sample, infos, bucket_name, scene_metadata, bev_distance_range) # Add version statistics without city/vehicle_type bucket_name = _get_bucket_name(args.version, args.version, range_filter_name, bev_distance_range) - t4_statistics[split].add_samples(t4.sample, bucket_name, scene_metadata) + t4_statistics[split].add_samples(t4.sample, infos, bucket_name, scene_metadata, bev_distance_range) for t4_statistic_info in t4_statistics.values(): t4_statistic_info.save_to_parquet() diff --git a/tools/detection3d/read_nan.py b/tools/detection3d/read_nan.py new file mode 100644 index 000000000..2d5b96a97 --- /dev/null +++ b/tools/detection3d/read_nan.py @@ -0,0 +1,21 @@ +import json +from pathlib import Path + +path = Path("/mnt/qnapdata/internal/comlops/db_pretrain_v1/") +nan_list = [] + +for dataset_folders in path.iterdir(): + for version_folder in dataset_folders.iterdir(): + annotation_folder = version_folder / "annotation" / "sample_annotation.json" + # print(annotation_folder) + with open(annotation_folder, "r") as fp: + data = json.load(fp) + for box in data: + if str(box["translation"][0]) == "nan": + print(dataset_folders) + nan_list.append(dataset_folders) + break + + +with open("nan_list.txt", "w") as fp: + fp.write(nan_list) diff --git a/tools/detection3d/read_pyyaml.py b/tools/detection3d/read_pyyaml.py new file mode 100644 index 000000000..0057d803e --- /dev/null +++ b/tools/detection3d/read_pyyaml.py @@ -0,0 +1,54 @@ +import json +import random +from pathlib import Path + +import yaml + +path = Path("autoware_ml/configs/t4dataset/db_pretrain_v1.yaml") +train_split = [] +test_split = [] +val_split = [] + +with open(path, "r") as f: + dataset_list_dict = yaml.safe_load(f) + data_list = [] + for split in ["train", "val", "test"]: + data_list += dataset_list_dict[split] + + val_ratio = int(0.05 * len(data_list)) + test_ratio = int(0.10 * len(data_list)) + + random.shuffle(data_list) + print(len(data_list)) + + val_split = data_list[:val_ratio] + test_split = data_list[val_ratio:test_ratio] + train_split = data_list[(val_ratio + test_ratio) :] + +with open(Path("autoware_ml/configs/t4dataset/db_pretrain_v2.yaml"), "w") as f: + data_dict = {"train": train_split, "val": val_split, "test": test_split} + yaml.safe_dump(data_dict, f, sort_keys=False) + + # selected_items = random.sample(my_list, num_items_to_select) + # print_log(f"Creating data info for split: {split}", logger="current") + +# with open(path, "r") as fp: +# data = py +# nan_list = [] + + +# for dataset_folders in path.iterdir(): +# for version_folder in dataset_folders.iterdir(): +# annotation_folder = version_folder / "annotation" / "sample_annotation.json" +# # print(annotation_folder) +# with open(annotation_folder, "r") as fp: +# data = json.load(fp) +# for box in data: +# if str(box["translation"][0]) == "nan": +# print(dataset_folders) +# nan_list.append(dataset_folders) +# break + + +# with open("nan_list.txt", "w") as fp: +# fp.write(nan_list) diff --git a/tools/detection3d/t4dataset_converters/t4dataset_statistics.py b/tools/detection3d/t4dataset_converters/t4dataset_statistics.py index a1a597311..b5a35a464 100644 --- a/tools/detection3d/t4dataset_converters/t4dataset_statistics.py +++ b/tools/detection3d/t4dataset_converters/t4dataset_statistics.py @@ -2,8 +2,9 @@ from collections import defaultdict from dataclasses import dataclass from pathlib import Path -from typing import Any, Dict, List +from typing import Any, Dict, List, Tuple +import numpy as np import polars as pl from t4_devkit.schema import Sample, SampleData @@ -27,29 +28,126 @@ class T4DatasetStatistics: TODO(KokSeang): This class will be unified with T4MetricV2DataFrame. """ - def __init__(self, output_dir: Path, split_name: str, version: str): + def __init__(self, output_dir: Path, split_name: str, version: str, class_names: List[str]): self.output_dir = output_dir self.split_name = split_name self.version = version self.output_dir.mkdir(parents=True, exist_ok=True) self.statistics = {} + self.class_names = class_names - def add_samples(self, samples: List[Sample], bucket_name: str, scene_metadata: T4DatasetSceneMetadata): + self.schema = { + "location": pl.String, + "vehicle_type": pl.String, + "suffix_name": pl.String, + f"{self.split_name}_total_num_frames": pl.Int64, + f"{self.split_name}_num_frame_keys": pl.List(pl.String), + f"{self.split_name}_num_frame_values": pl.List(pl.Int64), + f"{self.split_name}_ego_pose_translation_x_keys": pl.List(pl.String), + f"{self.split_name}_ego_pose_translation_x_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_ego_pose_translation_y_keys": pl.List(pl.String), + f"{self.split_name}_ego_pose_translation_y_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_ego_pose_translation_z_keys": pl.List(pl.String), + f"{self.split_name}_ego_pose_translation_z_values": pl.List(pl.List(pl.Float64)), + } + for class_name in self.class_names: + label_schema = { + f"{self.split_name}_{class_name}_frequency_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_frequency_values": pl.List(pl.Int64), + f"{self.split_name}_{class_name}_area_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_area_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_volume_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_volume_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_orientation_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_orientation_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_translation_x_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_translation_x_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_translation_y_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_translation_y_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_translation_z_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_translation_z_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_bev_radial_distance_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_bev_radial_distance_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_velocity_x_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_velocity_x_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_velocity_y_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_velocity_y_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_speed_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_speed_values": pl.List(pl.List(pl.Float64)), + f"{self.split_name}_{class_name}_num_lidar_pts_keys": pl.List(pl.String), + f"{self.split_name}_{class_name}_num_lidar_pts_values": pl.List(pl.List(pl.Float64)), + } + self.schema.update(label_schema) + + def add_samples( + self, + samples: List[Sample], + infos: List[Dict[str, Any]], + bucket_name: str, + scene_metadata: T4DatasetSceneMetadata, + bev_distance_range: Tuple[float, float], + ): """Add samples to the statistics.""" # Initialize the bucket if it doesn't exist if bucket_name not in self.statistics: self.statistics[bucket_name] = { "metadata": { - f"metadata/{self.split_name}_num_frame_distribution": defaultdict(int), + f"metadata/{self.split_name}_num_frame": defaultdict(int), f"metadata/{self.split_name}_total_num_frames": 0, + f"metadata/{self.split_name}_ego_pose_translation_x": defaultdict(list), + f"metadata/{self.split_name}_ego_pose_translation_y": defaultdict(list), + f"metadata/{self.split_name}_ego_pose_translation_z": defaultdict(list), + }, + "metadata_label": { + class_name: { + f"metadata_label/{self.split_name}_{class_name}_frequency": defaultdict(int), + f"metadata_label/{self.split_name}_{class_name}_area": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_volume": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_orientation": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_x": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_y": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_z": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_bev_radial_distance": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_velocity_y": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_velocity_x": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_speed": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_num_lidar_pts": defaultdict(list), + } + for class_name in self.class_names }, - "metadata_label": {}, } - self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_num_frame_distribution"][ + self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_num_frame"][ scene_metadata.frame_prefix - ] += len(samples) - self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_total_num_frames"] += len(samples) + ] += len(infos) + self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_total_num_frames"] += len(infos) + + for info in infos: + if not len(info): + continue + + for info in infos: + if not len(info): + continue + + # Save ego pose translation + self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_ego_pose_translation_x"][ + scene_metadata.frame_prefix + ].append(info["ego2global"][0][3]) + self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_ego_pose_translation_y"][ + scene_metadata.frame_prefix + ].append(info["ego2global"][1][3]) + self.statistics[bucket_name]["metadata"][f"metadata/{self.split_name}_ego_pose_translation_z"][ + scene_metadata.frame_prefix + ].append(info["ego2global"][2][3]) + + # Save object distribution + object_distributions = self._get_object_distributions(info, scene_metadata, bev_distance_range) + for class_name, distributions in object_distributions.items(): + for distribution_name, distribution_data in distributions.items(): + self.statistics[bucket_name]["metadata_label"][class_name][distribution_name][ + scene_metadata.frame_prefix + ] += distribution_data[scene_metadata.frame_prefix] def save_to_json(self): output_path = self.output_dir / f"t4dataset_{self.version}_statistics_{self.split_name}.json" @@ -71,6 +169,77 @@ def save_to_parquet(self, filename: str = None) -> None: # Save to parquet df.write_parquet(output_path) + def _get_object_distributions( + self, info: Dict[str, Any], scene_metadata: T4DatasetSceneMetadata, bev_distance_range: Tuple[float, float] + ) -> Dict[str, List[Dict[str, Any]]]: + """Get object distributions.""" + object_distributions = { + class_name: { + f"metadata_label/{self.split_name}_{class_name}_frequency": defaultdict(int), + f"metadata_label/{self.split_name}_{class_name}_area": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_volume": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_orientation": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_x": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_y": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_translation_z": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_bev_radial_distance": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_velocity_y": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_velocity_x": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_speed": defaultdict(list), + f"metadata_label/{self.split_name}_{class_name}_num_lidar_pts": defaultdict(list), + } + for class_name in self.class_names + } + + for instance in info["instances"]: + if not (instance["num_lidar_pts"] > 0 and instance["bbox_label_3d"] > -1): + continue + + radial_distance = np.linalg.norm(instance["bbox_3d"][:2]) + if radial_distance < bev_distance_range[0] or radial_distance >= bev_distance_range[1]: + continue + + class_name = self.class_names[instance["bbox_label_3d"]] + + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_frequency"][ + scene_metadata.frame_prefix + ] += 1 + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_area"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][3] * instance["bbox_3d"][4]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_volume"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][3] * instance["bbox_3d"][4] * instance["bbox_3d"][5]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_orientation"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][6]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_translation_x"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][0]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_translation_y"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][1]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_translation_z"][ + scene_metadata.frame_prefix + ].append(instance["bbox_3d"][2]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_bev_radial_distance"][ + scene_metadata.frame_prefix + ].append(radial_distance) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_velocity_x"][ + scene_metadata.frame_prefix + ].append(instance["velocity"][0]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_velocity_y"][ + scene_metadata.frame_prefix + ].append(instance["velocity"][1]) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_speed"][ + scene_metadata.frame_prefix + ].append(np.linalg.norm(instance["velocity"][:2])) + object_distributions[class_name][f"metadata_label/{self.split_name}_{class_name}_num_lidar_pts"][ + scene_metadata.frame_prefix + ].append(instance["num_lidar_pts"]) + + return object_distributions + @staticmethod def _parse_column_name(metric_name: str) -> str: """ @@ -99,6 +268,23 @@ def _parse_column_data(self, column_data: Dict[str, Any]) -> Dict[str, Any]: df[column_name].append(column_value) return df + def _parse_label_column_data(self, column_data: Dict[str, Any]) -> Dict[str, Any]: + """Parse the label column data. + + Args: + column_data: The column data. + """ + df = defaultdict(list) + for _, distributions in column_data.items(): + for distribution_name, distribution_data in distributions.items(): + column_name = self._parse_column_name(distribution_name) + if isinstance(distribution_data, dict): + df[f"{column_name}_keys"].append(list(distribution_data.keys())) + df[f"{column_name}_values"].append(list(distribution_data.values())) + else: + df[column_name].append(distribution_data) + return df + def _dict_to_dataframe(self) -> pl.DataFrame: """Convert nested dictionary to flat DataFrame. @@ -116,10 +302,13 @@ def _dict_to_dataframe(self) -> pl.DataFrame: df["suffix_name"].append(suffix_name) current_df = defaultdict(list) - for _, column_data in columns.items(): - current_df.update(self._parse_column_data(column_data)) + for column_header_name, column_data in columns.items(): + if column_header_name == "metadata_label": + current_df.update(self._parse_label_column_data(column_data)) + else: + current_df.update(self._parse_column_data(column_data)) for column_name, data in current_df.items(): df[column_name].extend(data) - return pl.from_dict(df) + return pl.from_dict(df, schema=self.schema) diff --git a/tools/detection3d/test.py b/tools/detection3d/test.py index 2ef498db8..64489fbaa 100644 --- a/tools/detection3d/test.py +++ b/tools/detection3d/test.py @@ -125,9 +125,11 @@ def main(): # build the runner from config if "dataset_test_groups" in cfg: - for dataset_name, dataset_file in cfg.dataset_test_groups.items(): + for dataset_name, dataset_configs in cfg.dataset_test_groups.items(): + dataset_file, evaluate_frame_prefix = dataset_configs cfg.test_dataloader.dataset.ann_file = osp.join(cfg.info_directory_path, dataset_file) cfg.test_evaluator.dataset_name = dataset_name + cfg.test_evaluator.evaluate_frame_prefix = evaluate_frame_prefix cfg.test_evaluator.ann_file = osp.join(cfg.data_root, cfg.info_directory_path, dataset_file) # build the runner from config