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Add inference script for CSI data #473

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5e292df
numpy linspace fix
yqsony Aug 30, 2021
c4c350d
update readme
yqsony Aug 30, 2021
9f4679a
update docker image path
yqsony Aug 30, 2021
dca5927
Update README.md
yqsony Oct 5, 2021
4311d8f
Update README.md
yqsony Oct 5, 2021
86e4464
Update README.md
yqsony Oct 5, 2021
3c0b63f
Update README.md
yqsony Oct 10, 2021
89d7019
Update README.md
yqsony Oct 10, 2021
4cb64a2
update car config and viewer/backend/main.py to quan paths
yqsony Aug 30, 2021
a3b09ce
update pointpoillar config
yqsony Aug 30, 2021
cbcf4c3
more changes in config
yqsony Aug 30, 2021
e67ed1c
load stereo disp as points
yqsony Aug 30, 2021
cdd884d
prepare disparity option
yqsony Aug 30, 2021
278f5b1
minor fix of P3
yqsony Aug 30, 2021
7497737
cut test txt short for missing disparity
yqsony Aug 30, 2021
bd5cf5e
test_bak.txt and test_short.txt
yqsony Aug 30, 2021
4ec0a72
fix disp_path
yqsony Aug 30, 2021
cb098f9
fix coordinates shape
yqsony Aug 30, 2021
fb5218c
add debug list
yqsony Aug 30, 2021
7aa5b27
np.squeeze
yqsony Aug 30, 2021
859946d
fix image path
yqsony Aug 31, 2021
8af7430
fix v_path = pc_info['velodyne_path']
yqsony Aug 31, 2021
da54d34
fix hstack
yqsony Aug 31, 2021
6119c5a
reorder xs,ys,zs
yqsony Aug 31, 2021
1f03c5b
update v_path
yqsony Aug 31, 2021
bb7d1f1
test short
yqsony Aug 31, 2021
199c667
debug test file
yqsony Aug 31, 2021
8e7bc73
make reflections visible in viewer
yqsony Aug 31, 2021
74a3d88
set 255.0
yqsony Aug 31, 2021
aa1365a
remove outside points
yqsony Aug 31, 2021
16ea962
debug xs,ys
yqsony Aug 31, 2021
171542a
camera to lidar
yqsony Aug 31, 2021
07230f8
separate reflection channel
yqsony Aug 31, 2021
211922a
debug points
yqsony Aug 31, 2021
7186e50
use full train/val set
yqsony Aug 31, 2021
668b130
skip remove points outside and downsample by 4
yqsony Aug 31, 2021
fcc5a9a
full datasets
yqsony Sep 2, 2021
6001a22
update config paths
yqsony Sep 2, 2021
55db996
update batch size
yqsony Sep 2, 2021
592497d
use r channel
yqsony Sep 8, 2021
4e81d69
change back to g channel
yqsony Sep 8, 2021
92a95a5
use rgb
yqsony Sep 9, 2021
c2bb77e
plot 2d boxes
yqsony Sep 24, 2021
448abe9
single image plot 2d box
yqsony Sep 24, 2021
43f08d5
plot boxes and update config of 3 classes
yqsony Sep 24, 2021
8a1143b
fix ped plot
yqsony Sep 26, 2021
7218beb
save to jpg
yqsony Sep 26, 2021
2103773
thresholds of 3 classes
yqsony Sep 26, 2021
2c36bf0
fix box bottom
yqsony Sep 27, 2021
9d13db1
Add CSI inference
Oct 16, 2021
b7d21de
Update docker image info
Oct 16, 2021
fd52129
Add inference script.
Oct 21, 2021
ac458c2
Add dump_csi.sh
Oct 21, 2021
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remove outside points
yqsony authored and Tracy Wadleigh committed Oct 16, 2021

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commit aa1365a785c804c2806849b079a28ff9a9728263
10 changes: 5 additions & 5 deletions second/data/kitti_dataset.py
Original file line number Diff line number Diff line change
@@ -455,6 +455,9 @@ def _create_reduced_point_cloud(data_path,
v_path = Path(data_path) / v_path
image_info = info["image"]
calib = info["calib"]
rect = calib['R0_rect']
P2 = calib['P2']
Trv2c = calib['Tr_velo_to_cam']
if use_disparity:
camera_params = calib['camera_params']
disp_path = pc_info['disparity_path']
@@ -486,17 +489,14 @@ def _create_reduced_point_cloud(data_path,
else:
points_v = np.fromfile(
str(v_path), dtype=np.float32, count=-1).reshape([-1, 4])
rect = calib['R0_rect']
P2 = calib['P2']
Trv2c = calib['Tr_velo_to_cam']
# first remove z < 0 points
# keep = points_v[:, -1] > 0
# points_v = points_v[keep]
# then remove outside.
if back:
points_v[:, 0] = -points_v[:, 0]
points_v = box_np_ops.remove_outside_points(points_v, rect, Trv2c, P2,
image_info["image_shape"])
points_v = box_np_ops.remove_outside_points(points_v, rect, Trv2c, P2,
image_info["image_shape"])
if save_path is None:
save_filename = v_path.parent.parent / (
v_path.parent.stem + "_reduced") / v_path.name