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Commit 41b18fd8 authored by zhe chen's avatar zhe chen
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Use pre-commit to reformat code 


Use pre-commit to reformat code
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.flake8 0 → 100644
View file @ 41b18fd8
[flake8]
ignore = E501, E502, F403, C901, W504, W605, E251, E122, E126, E127, E722, W503, E128, E741, E731, E701, E712
select = E1, E3, E502, E7, E9, W1, W5, W6
max-line-length = 180
exclude=*.egg/*,build,dist,detection/configs/*
.isort.cfg 0 → 100644
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[isort]
line-length = 180
multi_line_output = 0
extra_standard_library = setuptools
known_third_party = PIL,asynctest,cityscapesscripts,cv2,gather_models,matplotlib,mmcv,numpy,onnx,onnxruntime,pycocotools,pytest,pytorch_sphinx_theme,requests,scipy,seaborn,six,terminaltables,torch,ts,yaml
no_lines_before = STDLIB,LOCALFOLDER
default_section = THIRDPARTY
[yapf]
BASED_ON_STYLE = pep8
BLANK_LINE_BEFORE_NESTED_CLASS_OR_DEF = true
SPLIT_BEFORE_EXPRESSION_AFTER_OPENING_PAREN = true
[codespell]
skip = *.ipynb
quiet-level = 3
ignore-words-list = patten,nd,ty,mot,hist,formating,winn,gool,datas,wan,confids,TOOD,tood
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.pre-commit-config.yaml 0 → 100644
View file @ 41b18fd8
exclude: ^internvl_chat_llava/
repos:
- repo: https://github.com/PyCQA/flake8
rev: 5.0.4
hooks:
- id: flake8
- repo: https://github.com/PyCQA/isort
rev: 5.11.5
hooks:
- id: isort
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
hooks:
- id: trailing-whitespace
- id: check-yaml
- id: end-of-file-fixer
- id: requirements-txt-fixer
- id: double-quote-string-fixer
- id: check-merge-conflict
- id: fix-encoding-pragma
args: ["--remove"]
- id: mixed-line-ending
args: ["--fix=lf"]
- repo: https://github.com/executablebooks/mdformat
rev: 0.7.9
hooks:
- id: mdformat
args: ["--number"]
additional_dependencies:
- mdformat-openmmlab
- mdformat_frontmatter
- linkify-it-py
README.md
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This diff is collapsed.
README_CN.md
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This diff is collapsed.
autonomous_driving/Online-HD-Map-Construction/README.md
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<div id="top" align="center"> <div id="top" align="center">
# InternImage-based Baseline for Online HD Map Construction Challenge For Autonomous Driving # InternImage-based Baseline for Online HD Map Construction Challenge For Autonomous Driving
</div>
</div>
If you need detaild information about the challenge, please refer
to https://github.com/Tsinghua-MARS-Lab/Online-HD-Map-Construction-CVPR2023/tree/master
If you need detaild information about the challenge, please refer to https://github.com/Tsinghua-MARS-Lab/Online-HD-Map-Construction-CVPR2023/tree/master
#### 1. Requirements #### 1. Requirements
```bash ```bash
python>=3.8 python>=3.8
torch==1.11 # recommend torch==1.11 # recommend
...@@ -18,8 +20,8 @@ numpy==1.23.5 ...@@ -18,8 +20,8 @@ numpy==1.23.5
mmdet3d==1.0.0rc6 # recommend mmdet3d==1.0.0rc6 # recommend
``` ```
### 2. Install DCNv3 for InternImage ### 2. Install DCNv3 for InternImage
```bash ```bash
cd projects/ops_dcnv3 cd projects/ops_dcnv3
bash make.sh # requires torch>=1.10 bash make.sh # requires torch>=1.10
...@@ -33,21 +35,17 @@ bash tools/dist_train.sh src/configs/vectormapnet_intern.py ${NUM_GPUS} ...@@ -33,21 +35,17 @@ bash tools/dist_train.sh src/configs/vectormapnet_intern.py ${NUM_GPUS}
Notes: InatenImage provides abundant pre-trained model weights that can be used!!! Notes: InatenImage provides abundant pre-trained model weights that can be used!!!
### 4. Performance compared to baseline ### 4. Performance compared to baseline
model name|weight|$\mathrm{mAP}$ | $\mathrm{AP}_{pc}$ | $\mathrm{AP}_{div}$ | $\mathrm{AP}_{bound}$ | | model name | weight | $\\mathrm{mAP}$ | $\\mathrm{AP}\_{pc}$ | $\\mathrm{AP}\_{div}$ | $\\mathrm{AP}\_{bound}$ |
----|:----------:| :--: | :--: | :--: | :--: | | ------------------- | :---------------------------------------------------------------------------------------------------------------: | :-------------: | :------------------: | :-------------------: | :---------------------: |
vectormapnet_intern|[Checkpoint](https://github.com/OpenGVLab/InternImage/releases/download/track_model/vectormapnet_internimage.pth) | 49.35 | 45.05 | 56.78 | 46.22 | | vectormapnet_intern | [Checkpoint](https://github.com/OpenGVLab/InternImage/releases/download/track_model/vectormapnet_internimage.pth) | 49.35 | 45.05 | 56.78 | 46.22 |
vectormapnet_base|[Google Drive](https://drive.google.com/file/d/16D1CMinwA8PG1sd9PV9_WtHzcBohvO-D/view) | 42.79 | 37.22 | 50.47 | 40.68 | | vectormapnet_base | [Google Drive](https://drive.google.com/file/d/16D1CMinwA8PG1sd9PV9_WtHzcBohvO-D/view) | 42.79 | 37.22 | 50.47 | 40.68 |
## Citation ## Citation
The evaluation metrics of this challenge follows [HDMapNet](https://arxiv.org/abs/2107.06307). We provide [VectorMapNet](https://arxiv.org/abs/2206.08920) as the baseline. Please cite: The evaluation metrics of this challenge follows [HDMapNet](https://arxiv.org/abs/2107.06307). We
provide [VectorMapNet](https://arxiv.org/abs/2206.08920) as the baseline. Please cite:
``` ```
@article{li2021hdmapnet, @article{li2021hdmapnet,
...@@ -69,8 +67,8 @@ Our dataset is built on top of the [Argoverse 2](https://www.argoverse.org/av2.h ...@@ -69,8 +67,8 @@ Our dataset is built on top of the [Argoverse 2](https://www.argoverse.org/av2.h
} }
``` ```
## License ## License
Before participating in our challenge, you should register on the website and agree to the terms of use of the [Argoverse 2](https://www.argoverse.org/av2.html) dataset. Before participating in our challenge, you should register on the website and agree to the terms of use of
All code in this project is released under [GNU General Public License v3.0](./LICENSE). the [Argoverse 2](https://www.argoverse.org/av2.html) dataset. All code in this project is released
under [GNU General Public License v3.0](./LICENSE).
autonomous_driving/Online-HD-Map-Construction/src/__init__.py
View file @ 41b18fd8
from .models import *
from .datasets import *
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/configs/_base_/datasets/s3dis_seg-3d-13class.py
View file @ 41b18fd8
...@@ -125,8 +125,7 @@ data = dict( ...@@ -125,8 +125,7 @@ data = dict(
classes=class_names, classes=class_names,
test_mode=True, test_mode=True,
ignore_index=len(class_names), ignore_index=len(class_names),
scene_idxs=data_root + scene_idxs=data_root + f'seg_info/Area_{test_area}_resampled_scene_idxs.npy'),
f'seg_info/Area_{test_area}_resampled_scene_idxs.npy'),
test=dict( test=dict(
type=dataset_type, type=dataset_type,
data_root=data_root, data_root=data_root,
......
autonomous_driving/Online-HD-Map-Construction/src/configs/_base_/models/3dssd.py
View file @ 41b18fd8
...@@ -25,7 +25,7 @@ model = dict( ...@@ -25,7 +25,7 @@ model = dict(
in_channels=256, in_channels=256,
num_points=256, num_points=256,
gt_per_seed=1, gt_per_seed=1,
conv_channels=(128, ), conv_channels=(128,),
conv_cfg=dict(type='Conv1d'), conv_cfg=dict(type='Conv1d'),
norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1), norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1),
with_res_feat=False, with_res_feat=False,
...@@ -43,8 +43,8 @@ model = dict( ...@@ -43,8 +43,8 @@ model = dict(
pred_layer_cfg=dict( pred_layer_cfg=dict(
in_channels=1536, in_channels=1536,
shared_conv_channels=(512, 128), shared_conv_channels=(512, 128),
cls_conv_channels=(128, ), cls_conv_channels=(128,),
reg_conv_channels=(128, ), reg_conv_channels=(128,),
conv_cfg=dict(type='Conv1d'), conv_cfg=dict(type='Conv1d'),
norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1), norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1),
bias=True), bias=True),
......
autonomous_driving/Online-HD-Map-Construction/src/configs/_base_/models/fcos3d.py
View file @ 41b18fd8
...@@ -31,16 +31,16 @@ model = dict( ...@@ -31,16 +31,16 @@ model = dict(
dir_offset=0.7854, # pi/4 dir_offset=0.7854, # pi/4
strides=[8, 16, 32, 64, 128], strides=[8, 16, 32, 64, 128],
group_reg_dims=(2, 1, 3, 1, 2), # offset, depth, size, rot, velo group_reg_dims=(2, 1, 3, 1, 2), # offset, depth, size, rot, velo
cls_branch=(256, ), cls_branch=(256,),
reg_branch=( reg_branch=(
(256, ), # offset (256,), # offset
(256, ), # depth (256,), # depth
(256, ), # size (256,), # size
(256, ), # rot (256,), # rot
() # velo () # velo
), ),
dir_branch=(256, ), dir_branch=(256,),
attr_branch=(256, ), attr_branch=(256,),
loss_cls=dict( loss_cls=dict(
type='FocalLoss', type='FocalLoss',
use_sigmoid=True, use_sigmoid=True,
......
autonomous_driving/Online-HD-Map-Construction/src/configs/vectormapnet.py
View file @ 41b18fd8
...@@ -11,12 +11,12 @@ meta = { ...@@ -11,12 +11,12 @@ meta = {
'output_format': 'vector', 'output_format': 'vector',
# NOTE: please modify the information below # NOTE: please modify the information below
'method': 'VectorMapNet', # name of your method 'method': 'VectorMapNet', # name of your method
'authors': ['Yicheng Liu', 'Tianyuan Yuan', 'Yue Wang', 'authors': ['Yicheng Liu', 'Tianyuan Yuan', 'Yue Wang',
'Yilun Wang', 'Hang Zhao'], # author names 'Yilun Wang', 'Hang Zhao'], # author names
'e-mail': 'yuantianyuan01@gmail.com', # your e-mail address 'e-mail': 'yuantianyuan01@gmail.com', # your e-mail address
'institution / company': 'MarsLab, Tsinghua University', # your organization 'institution / company': 'MarsLab, Tsinghua University', # your organization
'country / region': 'xxx', # (IMPORTANT) your country/region in iso3166 standard 'country / region': 'xxx', # (IMPORTANT) your country/region in iso3166 standard
} }
# model type # model type
...@@ -30,7 +30,7 @@ plugin_dir = 'src/' ...@@ -30,7 +30,7 @@ plugin_dir = 'src/'
img_norm_cfg = dict( img_norm_cfg = dict(
mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False) mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)
img_size = (int(128*2), int((16/9*128)*2)) img_size = (int(128 * 2), int((16 / 9 * 128) * 2))
# category configs # category configs
cat2id = { cat2id = {
...@@ -41,14 +41,14 @@ cat2id = { ...@@ -41,14 +41,14 @@ cat2id = {
num_class = max(list(cat2id.values())) + 1 num_class = max(list(cat2id.values())) + 1
# bev configs # bev configs
roi_size = (60, 30) # bev range, 60m in x-axis, 30m in y-axis roi_size = (60, 30) # bev range, 60m in x-axis, 30m in y-axis
canvas_size = (200, 100) # bev feature size canvas_size = (200, 100) # bev feature size
# vectorize params # vectorize params
coords_dim = 2 # polylines coordinates dimension, 2 or 3 coords_dim = 2 # polylines coordinates dimension, 2 or 3
sample_dist = -1 # sampling params, vectormapnet uses simplify sample_dist = -1 # sampling params, vectormapnet uses simplify
sample_num = -1 # sampling params, vectormapnet uses simplify sample_num = -1 # sampling params, vectormapnet uses simplify
simplify = True # sampling params, vectormapnet uses simplify simplify = True # sampling params, vectormapnet uses simplify
# model configs # model configs
head_dim = 256 head_dim = 256
...@@ -85,21 +85,21 @@ model = dict( ...@@ -85,21 +85,21 @@ model = dict(
upsample=dict( upsample=dict(
zoom_size=(1, 2, 4, 8), zoom_size=(1, 2, 4, 8),
in_channels=128, in_channels=128,
out_channels=128,), out_channels=128, ),
xbound=[-roi_size[0]/2, roi_size[0]/2, roi_size[0]/canvas_size[0]], xbound=[-roi_size[0] / 2, roi_size[0] / 2, roi_size[0] / canvas_size[0]],
ybound=[-roi_size[1]/2, roi_size[1]/2, roi_size[1]/canvas_size[1]], ybound=[-roi_size[1] / 2, roi_size[1] / 2, roi_size[1] / canvas_size[1]],
heights=[-1.1, 0, 0.5, 1.1], heights=[-1.1, 0, 0.5, 1.1],
out_channels=128, out_channels=128,
pretrained=None, pretrained=None,
num_cam=7, num_cam=7,
), ),
head_cfg=dict( head_cfg=dict(
type='DGHead', type='DGHead',
augmentation=True, augmentation=True,
augmentation_kwargs=dict( augmentation_kwargs=dict(
p=0.3,scale=0.01, p=0.3, scale=0.01,
bbox_type='xyxy', bbox_type='xyxy',
), ),
det_net_cfg=dict( det_net_cfg=dict(
type='MapElementDetector', type='MapElementDetector',
num_query=120, num_query=120,
...@@ -135,30 +135,30 @@ model = dict( ...@@ -135,30 +135,30 @@ model = dict(
num_heads=8, num_heads=8,
attn_drop=0.1, attn_drop=0.1,
proj_drop=0.1, proj_drop=0.1,
dropout_layer=dict(type='Dropout', drop_prob=0.1),), dropout_layer=dict(type='Dropout', drop_prob=0.1), ),
dict( dict(
type='MultiScaleDeformableAttention', type='MultiScaleDeformableAttention',
embed_dims=head_dim, embed_dims=head_dim,
num_heads=8, num_heads=8,
num_levels=1, num_levels=1,
), ),
], ],
ffn_cfgs=dict( ffn_cfgs=dict(
type='FFN', type='FFN',
embed_dims=head_dim, embed_dims=head_dim,
feedforward_channels=head_dim*2, feedforward_channels=head_dim * 2,
num_fcs=2, num_fcs=2,
ffn_drop=0.1, ffn_drop=0.1,
act_cfg=dict(type='ReLU', inplace=True), act_cfg=dict(type='ReLU', inplace=True),
), ),
feedforward_channels=head_dim*2, feedforward_channels=head_dim * 2,
ffn_dropout=0.1, ffn_dropout=0.1,
operation_order=('norm', 'self_attn', 'norm', 'cross_attn', operation_order=('norm', 'self_attn', 'norm', 'cross_attn',
'norm', 'ffn',))) 'norm', 'ffn',)))
), ),
positional_encoding=dict( positional_encoding=dict(
type='SinePositionalEncoding', type='SinePositionalEncoding',
num_feats=head_dim//2, num_feats=head_dim // 2,
normalize=True, normalize=True,
offset=-0.5), offset=-0.5),
loss_cls=dict( loss_cls=dict(
...@@ -176,30 +176,30 @@ model = dict( ...@@ -176,30 +176,30 @@ model = dict(
cost=dict( cost=dict(
type='MapQueriesCost', type='MapQueriesCost',
cls_cost=dict(type='FocalLossCost', weight=2.0), cls_cost=dict(type='FocalLossCost', weight=2.0),
reg_cost=dict(type='BBoxCostC', weight=0.1), # continues reg_cost=dict(type='BBoxCostC', weight=0.1), # continues
iou_cost=dict(type='IoUCostC', weight=1,box_format='xyxy'), # continues iou_cost=dict(type='IoUCostC', weight=1, box_format='xyxy'), # continues
),
), ),
), ),
),
), ),
gen_net_cfg=dict( gen_net_cfg=dict(
type='PolylineGenerator', type='PolylineGenerator',
in_channels=128, in_channels=128,
encoder_config=None, encoder_config=None,
decoder_config={ decoder_config={
'layer_config': { 'layer_config': {
'd_model': 256, 'd_model': 256,
'nhead': 8, 'nhead': 8,
'dim_feedforward': 512, 'dim_feedforward': 512,
'dropout': 0.2, 'dropout': 0.2,
'norm_first': True, 'norm_first': True,
're_zero': True, 're_zero': True,
},
'num_layers': 6,
}, },
'num_layers': 6,
},
class_conditional=True, class_conditional=True,
num_classes=num_class, num_classes=num_class,
canvas_size=canvas_size, #xy canvas_size=canvas_size, # xy
max_seq_length=500, max_seq_length=500,
decoder_cross_attention=False, decoder_cross_attention=False,
use_discrete_vertex_embeddings=True, use_discrete_vertex_embeddings=True,
...@@ -207,7 +207,7 @@ model = dict( ...@@ -207,7 +207,7 @@ model = dict(
max_num_vertices=80, max_num_vertices=80,
top_p_gen_model=0.9, top_p_gen_model=0.9,
sync_cls_avg_factor=True, sync_cls_avg_factor=True,
), ),
with_auxiliary_head=False, with_auxiliary_head=False,
model_name='VectorMapNet' model_name='VectorMapNet'
) )
...@@ -226,11 +226,11 @@ train_pipeline = [ ...@@ -226,11 +226,11 @@ train_pipeline = [
canvas_size=canvas_size, # xy canvas_size=canvas_size, # xy
coord_dim=2, coord_dim=2,
num_class=num_class, num_class=num_class,
threshold=4/200, threshold=4 / 200,
), ),
dict(type='LoadMultiViewImagesFromFiles'), dict(type='LoadMultiViewImagesFromFiles'),
dict(type='ResizeMultiViewImages', dict(type='ResizeMultiViewImages',
size = (int(128*2), int((16/9*128)*2)), # H, W size=(int(128 * 2), int((16 / 9 * 128) * 2)), # H, W
change_intrinsics=True, change_intrinsics=True,
), ),
dict(type='Normalize3D', **img_norm_cfg), dict(type='Normalize3D', **img_norm_cfg),
...@@ -243,7 +243,7 @@ train_pipeline = [ ...@@ -243,7 +243,7 @@ train_pipeline = [
test_pipeline = [ test_pipeline = [
dict(type='LoadMultiViewImagesFromFiles'), dict(type='LoadMultiViewImagesFromFiles'),
dict(type='ResizeMultiViewImages', dict(type='ResizeMultiViewImages',
size=img_size, # H, W size=img_size, # H, W
change_intrinsics=True, change_intrinsics=True,
), ),
dict(type='Normalize3D', **img_norm_cfg), dict(type='Normalize3D', **img_norm_cfg),
...@@ -296,9 +296,9 @@ optimizer = dict( ...@@ -296,9 +296,9 @@ optimizer = dict(
type='AdamW', type='AdamW',
lr=1e-3, lr=1e-3,
paramwise_cfg=dict( paramwise_cfg=dict(
custom_keys={ custom_keys={
'backbone': dict(lr_mult=0.1), 'backbone': dict(lr_mult=0.1),
}), }),
weight_decay=0.01) weight_decay=0.01)
optimizer_config = dict(grad_clip=dict(max_norm=3.5, norm_type=2)) optimizer_config = dict(grad_clip=dict(max_norm=3.5, norm_type=2))
...@@ -315,7 +315,7 @@ total_epochs = 130 ...@@ -315,7 +315,7 @@ total_epochs = 130
# kwargs for dataset evaluation # kwargs for dataset evaluation
eval_kwargs = dict() eval_kwargs = dict()
evaluation = dict( evaluation = dict(
interval=5, interval=5,
**eval_kwargs) **eval_kwargs)
runner = dict(type='EpochBasedRunner', max_epochs=total_epochs) runner = dict(type='EpochBasedRunner', max_epochs=total_epochs)
......
autonomous_driving/Online-HD-Map-Construction/src/configs/vectormapnet_intern.py
View file @ 41b18fd8
...@@ -11,12 +11,12 @@ meta = { ...@@ -11,12 +11,12 @@ meta = {
'output_format': 'vector', 'output_format': 'vector',
# NOTE: please modify the information below # NOTE: please modify the information below
'method': 'VectorMapNet', # name of your method 'method': 'VectorMapNet', # name of your method
'authors': ['Yicheng Liu', 'Tianyuan Yuan', 'Yue Wang', 'authors': ['Yicheng Liu', 'Tianyuan Yuan', 'Yue Wang',
'Yilun Wang', 'Hang Zhao'], # author names 'Yilun Wang', 'Hang Zhao'], # author names
'e-mail': 'yuantianyuan01@gmail.com', # your e-mail address 'e-mail': 'yuantianyuan01@gmail.com', # your e-mail address
'institution / company': 'MarsLab, Tsinghua University', # your organization 'institution / company': 'MarsLab, Tsinghua University', # your organization
'country / region': 'xxx', # (IMPORTANT) your country/region in iso3166 standard 'country / region': 'xxx', # (IMPORTANT) your country/region in iso3166 standard
} }
# model type # model type
...@@ -28,11 +28,11 @@ plugin_dir = 'src/' ...@@ -28,11 +28,11 @@ plugin_dir = 'src/'
# img configs # img configs
# img_norm_cfg = dict( # img_norm_cfg = dict(
# mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False) # mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)
img_norm_cfg = dict( img_norm_cfg = dict(
mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True) mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)
img_size = (int(128*2), int((16/9*128)*2)) img_size = (int(128 * 2), int((16 / 9 * 128) * 2))
# category configs # category configs
cat2id = { cat2id = {
...@@ -43,14 +43,14 @@ cat2id = { ...@@ -43,14 +43,14 @@ cat2id = {
num_class = max(list(cat2id.values())) + 1 num_class = max(list(cat2id.values())) + 1
# bev configs # bev configs
roi_size = (60, 30) # bev range, 60m in x-axis, 30m in y-axis roi_size = (60, 30) # bev range, 60m in x-axis, 30m in y-axis
canvas_size = (200, 100) # bev feature size canvas_size = (200, 100) # bev feature size
# vectorize params # vectorize params
coords_dim = 2 # polylines coordinates dimension, 2 or 3 coords_dim = 2 # polylines coordinates dimension, 2 or 3
sample_dist = -1 # sampling params, vectormapnet uses simplify sample_dist = -1 # sampling params, vectormapnet uses simplify
sample_num = -1 # sampling params, vectormapnet uses simplify sample_num = -1 # sampling params, vectormapnet uses simplify
simplify = True # sampling params, vectormapnet uses simplify simplify = True # sampling params, vectormapnet uses simplify
# model configs # model configs
head_dim = 256 head_dim = 256
...@@ -62,20 +62,20 @@ model = dict( ...@@ -62,20 +62,20 @@ model = dict(
backbone_cfg=dict( backbone_cfg=dict(
type='IPMEncoder', type='IPMEncoder',
img_backbone=dict( img_backbone=dict(
_delete_=True, _delete_=True,
type='InternImage', type='InternImage',
core_op='DCNv3', core_op='DCNv3',
channels=80, channels=80,
depths=[4, 4, 21, 4], depths=[4, 4, 21, 4],
groups=[5, 10, 20, 40], groups=[5, 10, 20, 40],
mlp_ratio=4., mlp_ratio=4.,
drop_path_rate=0.3, drop_path_rate=0.3,
norm_layer='LN', norm_layer='LN',
layer_scale=1.0, layer_scale=1.0,
offset_scale=1.0, offset_scale=1.0,
post_norm=True, post_norm=True,
with_cp=False, with_cp=False,
init_cfg=dict(type='Pretrained', checkpoint=pretrained)), init_cfg=dict(type='Pretrained', checkpoint=pretrained)),
img_neck=dict( img_neck=dict(
type='FPN', type='FPN',
in_channels=[80, 160, 320, 640], in_channels=[80, 160, 320, 640],
...@@ -89,21 +89,21 @@ model = dict( ...@@ -89,21 +89,21 @@ model = dict(
upsample=dict( upsample=dict(
zoom_size=(1, 2, 4, 8), zoom_size=(1, 2, 4, 8),
in_channels=128, in_channels=128,
out_channels=128,), out_channels=128, ),
xbound=[-roi_size[0]/2, roi_size[0]/2, roi_size[0]/canvas_size[0]], xbound=[-roi_size[0] / 2, roi_size[0] / 2, roi_size[0] / canvas_size[0]],
ybound=[-roi_size[1]/2, roi_size[1]/2, roi_size[1]/canvas_size[1]], ybound=[-roi_size[1] / 2, roi_size[1] / 2, roi_size[1] / canvas_size[1]],
heights=[-1.1, 0, 0.5, 1.1], heights=[-1.1, 0, 0.5, 1.1],
out_channels=128, out_channels=128,
pretrained=None, pretrained=None,
num_cam=7, num_cam=7,
), ),
head_cfg=dict( head_cfg=dict(
type='DGHead', type='DGHead',
augmentation=True, augmentation=True,
augmentation_kwargs=dict( augmentation_kwargs=dict(
p=0.3,scale=0.01, p=0.3, scale=0.01,
bbox_type='xyxy', bbox_type='xyxy',
), ),
det_net_cfg=dict( det_net_cfg=dict(
type='MapElementDetector', type='MapElementDetector',
num_query=120, num_query=120,
...@@ -139,30 +139,30 @@ model = dict( ...@@ -139,30 +139,30 @@ model = dict(
num_heads=8, num_heads=8,
attn_drop=0.1, attn_drop=0.1,
proj_drop=0.1, proj_drop=0.1,
dropout_layer=dict(type='Dropout', drop_prob=0.1),), dropout_layer=dict(type='Dropout', drop_prob=0.1), ),
dict( dict(
type='MultiScaleDeformableAttention', type='MultiScaleDeformableAttention',
embed_dims=head_dim, embed_dims=head_dim,
num_heads=8, num_heads=8,
num_levels=1, num_levels=1,
), ),
], ],
ffn_cfgs=dict( ffn_cfgs=dict(
type='FFN', type='FFN',
embed_dims=head_dim, embed_dims=head_dim,
feedforward_channels=head_dim*2, feedforward_channels=head_dim * 2,
num_fcs=2, num_fcs=2,
ffn_drop=0.1, ffn_drop=0.1,
act_cfg=dict(type='ReLU', inplace=True), act_cfg=dict(type='ReLU', inplace=True),
), ),
feedforward_channels=head_dim*2, feedforward_channels=head_dim * 2,
ffn_dropout=0.1, ffn_dropout=0.1,
operation_order=('norm', 'self_attn', 'norm', 'cross_attn', operation_order=('norm', 'self_attn', 'norm', 'cross_attn',
'norm', 'ffn',))) 'norm', 'ffn',)))
), ),
positional_encoding=dict( positional_encoding=dict(
type='SinePositionalEncoding', type='SinePositionalEncoding',
num_feats=head_dim//2, num_feats=head_dim // 2,
normalize=True, normalize=True,
offset=-0.5), offset=-0.5),
loss_cls=dict( loss_cls=dict(
...@@ -180,30 +180,30 @@ model = dict( ...@@ -180,30 +180,30 @@ model = dict(
cost=dict( cost=dict(
type='MapQueriesCost', type='MapQueriesCost',
cls_cost=dict(type='FocalLossCost', weight=2.0), cls_cost=dict(type='FocalLossCost', weight=2.0),
reg_cost=dict(type='BBoxCostC', weight=0.1), # continues reg_cost=dict(type='BBoxCostC', weight=0.1), # continues
iou_cost=dict(type='IoUCostC', weight=1,box_format='xyxy'), # continues iou_cost=dict(type='IoUCostC', weight=1, box_format='xyxy'), # continues
),
), ),
), ),
),
), ),
gen_net_cfg=dict( gen_net_cfg=dict(
type='PolylineGenerator', type='PolylineGenerator',
in_channels=128, in_channels=128,
encoder_config=None, encoder_config=None,
decoder_config={ decoder_config={
'layer_config': { 'layer_config': {
'd_model': 256, 'd_model': 256,
'nhead': 8, 'nhead': 8,
'dim_feedforward': 512, 'dim_feedforward': 512,
'dropout': 0.2, 'dropout': 0.2,
'norm_first': True, 'norm_first': True,
're_zero': True, 're_zero': True,
},
'num_layers': 6,
}, },
'num_layers': 6,
},
class_conditional=True, class_conditional=True,
num_classes=num_class, num_classes=num_class,
canvas_size=canvas_size, #xy canvas_size=canvas_size, # xy
max_seq_length=500, max_seq_length=500,
decoder_cross_attention=False, decoder_cross_attention=False,
use_discrete_vertex_embeddings=True, use_discrete_vertex_embeddings=True,
...@@ -211,7 +211,7 @@ model = dict( ...@@ -211,7 +211,7 @@ model = dict(
max_num_vertices=80, max_num_vertices=80,
top_p_gen_model=0.9, top_p_gen_model=0.9,
sync_cls_avg_factor=True, sync_cls_avg_factor=True,
), ),
with_auxiliary_head=False, with_auxiliary_head=False,
model_name='VectorMapNet' model_name='VectorMapNet'
) )
...@@ -230,11 +230,11 @@ train_pipeline = [ ...@@ -230,11 +230,11 @@ train_pipeline = [
canvas_size=canvas_size, # xy canvas_size=canvas_size, # xy
coord_dim=2, coord_dim=2,
num_class=num_class, num_class=num_class,
threshold=4/200, threshold=4 / 200,
), ),
dict(type='LoadMultiViewImagesFromFiles'), dict(type='LoadMultiViewImagesFromFiles'),
dict(type='ResizeMultiViewImages', dict(type='ResizeMultiViewImages',
size = (int(128*2), int((16/9*128)*2)), # H, W size=(int(128 * 2), int((16 / 9 * 128) * 2)), # H, W
change_intrinsics=True, change_intrinsics=True,
), ),
dict(type='Normalize3D', **img_norm_cfg), dict(type='Normalize3D', **img_norm_cfg),
...@@ -247,7 +247,7 @@ train_pipeline = [ ...@@ -247,7 +247,7 @@ train_pipeline = [
test_pipeline = [ test_pipeline = [
dict(type='LoadMultiViewImagesFromFiles'), dict(type='LoadMultiViewImagesFromFiles'),
dict(type='ResizeMultiViewImages', dict(type='ResizeMultiViewImages',
size=img_size, # H, W size=img_size, # H, W
change_intrinsics=True, change_intrinsics=True,
), ),
dict(type='Normalize3D', **img_norm_cfg), dict(type='Normalize3D', **img_norm_cfg),
...@@ -300,9 +300,9 @@ optimizer = dict( ...@@ -300,9 +300,9 @@ optimizer = dict(
type='AdamW', type='AdamW',
lr=1e-3, lr=1e-3,
paramwise_cfg=dict( paramwise_cfg=dict(
custom_keys={ custom_keys={
'backbone': dict(lr_mult=0.1), 'backbone': dict(lr_mult=0.1),
}), }),
weight_decay=0.01) weight_decay=0.01)
optimizer_config = dict(grad_clip=dict(max_norm=3.5, norm_type=2)) optimizer_config = dict(grad_clip=dict(max_norm=3.5, norm_type=2))
......
autonomous_driving/Online-HD-Map-Construction/src/datasets/__init__.py
View file @ 41b18fd8
from .pipelines import *
from .argo_dataset import AV2Dataset
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/datasets/argo_dataset.py
View file @ 41b18fd8
from .base_dataset import BaseMapDataset import os
from mmdet.datasets import DATASETS
import numpy as np
from time import time from time import time
import mmcv import mmcv
import os import numpy as np
from mmdet.datasets import DATASETS
from shapely.geometry import LineString from shapely.geometry import LineString
from .base_dataset import BaseMapDataset
@DATASETS.register_module() @DATASETS.register_module()
class AV2Dataset(BaseMapDataset): class AV2Dataset(BaseMapDataset):
"""Argoverse2 map dataset class. """Argoverse2 map dataset class.
...@@ -22,9 +25,9 @@ class AV2Dataset(BaseMapDataset): ...@@ -22,9 +25,9 @@ class AV2Dataset(BaseMapDataset):
test_mode (bool): whether in test mode test_mode (bool): whether in test mode
""" """
def __init__(self, **kwargs,): def __init__(self, **kwargs, ):
super().__init__(**kwargs) super().__init__(**kwargs)
def load_annotations(self, ann_file): def load_annotations(self, ann_file):
"""Load annotations from ann_file. """Load annotations from ann_file.
...@@ -34,20 +37,20 @@ class AV2Dataset(BaseMapDataset): ...@@ -34,20 +37,20 @@ class AV2Dataset(BaseMapDataset):
Returns: Returns:
list[dict]: List of annotations. list[dict]: List of annotations.
""" """
start_time = time() start_time = time()
ann = mmcv.load(ann_file) ann = mmcv.load(ann_file)
samples = [] samples = []
for seg_id, sequence in ann.items(): for seg_id, sequence in ann.items():
samples.extend(sequence) samples.extend(sequence)
samples = samples[::self.interval] samples = samples[::self.interval]
print(f'collected {len(samples)} samples in {(time() - start_time):.2f}s') print(f'collected {len(samples)} samples in {(time() - start_time):.2f}s')
self.samples = samples self.samples = samples
def get_sample(self, idx): def get_sample(self, idx):
"""Get data sample. For each sample, map extractor will be applied to extract """Get data sample. For each sample, map extractor will be applied to extract
map elements. map elements.
Args: Args:
idx (int): data index idx (int): data index
...@@ -57,7 +60,7 @@ class AV2Dataset(BaseMapDataset): ...@@ -57,7 +60,7 @@ class AV2Dataset(BaseMapDataset):
""" """
sample = self.samples[idx] sample = self.samples[idx]
if not self.test_mode: if not self.test_mode:
ann = sample['annotation'] ann = sample['annotation']
...@@ -66,7 +69,7 @@ class AV2Dataset(BaseMapDataset): ...@@ -66,7 +69,7 @@ class AV2Dataset(BaseMapDataset):
for k, v in ann.items(): for k, v in ann.items():
if k in self.cat2id.keys(): if k in self.cat2id.keys():
map_label2geom[self.cat2id[k]] = [LineString(np.array(l)[:, :3]) for l in v] map_label2geom[self.cat2id[k]] = [LineString(np.array(l)[:, :3]) for l in v]
ego2img_rts = [] ego2img_rts = []
cams = sample['sensor'] cams = sample['sensor']
for c in cams.values(): for c in cams.values():
...@@ -87,10 +90,10 @@ class AV2Dataset(BaseMapDataset): ...@@ -87,10 +90,10 @@ class AV2Dataset(BaseMapDataset):
# extrinsics are 4x4 tranform matrix, NOTE: **ego2cam** # extrinsics are 4x4 tranform matrix, NOTE: **ego2cam**
'cam_extrinsics': [c['extrinsic'] for c in cams.values()], 'cam_extrinsics': [c['extrinsic'] for c in cams.values()],
'ego2img': ego2img_rts, 'ego2img': ego2img_rts,
'ego2global_translation': pose['ego2global_translation'], 'ego2global_translation': pose['ego2global_translation'],
'ego2global_rotation': pose['ego2global_rotation'], 'ego2global_rotation': pose['ego2global_rotation'],
} }
if not self.test_mode: if not self.test_mode:
input_dict.update({'map_geoms': map_label2geom}) # {0: List[ped_crossing(LineString)], 1: ...}}) input_dict.update({'map_geoms': map_label2geom}) # {0: List[ped_crossing(LineString)], 1: ...}})
return input_dict return input_dict
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/datasets/base_dataset.py
View file @ 41b18fd8
import numpy as np
import os import os
import os.path as osp import os.path as osp
import mmcv import warnings
from .evaluation.vector_eval import VectorEvaluate
import mmcv
import numpy as np
from mmdet3d.datasets.pipelines import Compose from mmdet3d.datasets.pipelines import Compose
from mmdet.datasets import DATASETS from mmdet.datasets import DATASETS
from torch.utils.data import Dataset from torch.utils.data import Dataset
import warnings
warnings.filterwarnings("ignore") from .evaluation.vector_eval import VectorEvaluate
warnings.filterwarnings('ignore')
@DATASETS.register_module() @DATASETS.register_module()
class BaseMapDataset(Dataset): class BaseMapDataset(Dataset):
...@@ -26,7 +28,8 @@ class BaseMapDataset(Dataset): ...@@ -26,7 +28,8 @@ class BaseMapDataset(Dataset):
work_dir (str): path to work dir work_dir (str): path to work dir
test_mode (bool): whether in test mode test_mode (bool): whether in test mode
""" """
def __init__(self,
def __init__(self,
ann_file, ann_file,
root_path, root_path,
cat2id, cat2id,
...@@ -36,12 +39,12 @@ class BaseMapDataset(Dataset): ...@@ -36,12 +39,12 @@ class BaseMapDataset(Dataset):
interval=1, interval=1,
work_dir=None, work_dir=None,
test_mode=False, test_mode=False,
): ):
super().__init__() super().__init__()
self.ann_file = ann_file self.ann_file = ann_file
self.meta = meta self.meta = meta
self.root_path = root_path self.root_path = root_path
self.classes = list(cat2id.keys()) self.classes = list(cat2id.keys())
self.num_classes = len(self.classes) self.num_classes = len(self.classes)
self.cat2id = cat2id self.cat2id = cat2id
...@@ -60,12 +63,12 @@ class BaseMapDataset(Dataset): ...@@ -60,12 +63,12 @@ class BaseMapDataset(Dataset):
self.pipeline = Compose(pipeline) self.pipeline = Compose(pipeline)
else: else:
self.pipeline = None self.pipeline = None
# dummy flags to fit with mmdet dataset # dummy flags to fit with mmdet dataset
self.flag = np.zeros(len(self), dtype=np.uint8) self.flag = np.zeros(len(self), dtype=np.uint8)
self.roi_size = roi_size self.roi_size = roi_size
self.work_dir = work_dir self.work_dir = work_dir
self.test_mode = test_mode self.test_mode = test_mode
...@@ -77,7 +80,7 @@ class BaseMapDataset(Dataset): ...@@ -77,7 +80,7 @@ class BaseMapDataset(Dataset):
def format_results(self, results, denormalize=True, prefix=None): def format_results(self, results, denormalize=True, prefix=None):
'''Format prediction result to submission format. '''Format prediction result to submission format.
Args: Args:
results (list[Tensor]): List of prediction results. results (list[Tensor]): List of prediction results.
denormalize (bool): whether to denormalize prediction from (0, 1) \ denormalize (bool): whether to denormalize prediction from (0, 1) \
...@@ -99,18 +102,18 @@ class BaseMapDataset(Dataset): ...@@ -99,18 +102,18 @@ class BaseMapDataset(Dataset):
For each case, the result should be formatted as Dict{'vectors': [], 'scores': [], 'labels': []} For each case, the result should be formatted as Dict{'vectors': [], 'scores': [], 'labels': []}
'vectors': List of vector, each vector is a array([[x1, y1], [x2, y2] ...]), 'vectors': List of vector, each vector is a array([[x1, y1], [x2, y2] ...]),
contain all vectors predicted in this sample. contain all vectors predicted in this sample.
'scores: List of score(float), 'scores: List of score(float),
contain scores of all instances in this sample. contain scores of all instances in this sample.
'labels': List of label(int), 'labels': List of label(int),
contain labels of all instances in this sample. contain labels of all instances in this sample.
''' '''
if pred is None: # empty prediction if pred is None: # empty prediction
continue continue
single_case = {'vectors': [], 'scores': [], 'labels': []} single_case = {'vectors': [], 'scores': [], 'labels': []}
token = pred['token'] token = pred['token']
roi_size = np.array(self.roi_size) roi_size = np.array(self.roi_size)
origin = -np.array([self.roi_size[0]/2, self.roi_size[1]/2]) origin = -np.array([self.roi_size[0] / 2, self.roi_size[1] / 2])
for i in range(len(pred['scores'])): for i in range(len(pred['scores'])):
score = pred['scores'][i] score = pred['scores'][i]
...@@ -120,7 +123,7 @@ class BaseMapDataset(Dataset): ...@@ -120,7 +123,7 @@ class BaseMapDataset(Dataset):
# A line should have >=2 points # A line should have >=2 points
if len(vector) < 2: if len(vector) < 2:
continue continue
if denormalize: if denormalize:
eps = 2 eps = 2
vector = vector * (roi_size + eps) + origin vector = vector * (roi_size + eps) + origin
...@@ -128,9 +131,9 @@ class BaseMapDataset(Dataset): ...@@ -128,9 +131,9 @@ class BaseMapDataset(Dataset):
single_case['vectors'].append(vector) single_case['vectors'].append(vector)
single_case['scores'].append(score) single_case['scores'].append(score)
single_case['labels'].append(label) single_case['labels'].append(label)
submissions['results'][token] = single_case submissions['results'][token] = single_case
out_path = osp.join(prefix, 'submission_vector.json') out_path = osp.join(prefix, 'submission_vector.json')
print(f'\nsaving submissions results to {out_path}') print(f'\nsaving submissions results to {out_path}')
os.makedirs(os.path.dirname(out_path), exist_ok=True) os.makedirs(os.path.dirname(out_path), exist_ok=True)
...@@ -152,7 +155,7 @@ class BaseMapDataset(Dataset): ...@@ -152,7 +155,7 @@ class BaseMapDataset(Dataset):
self.evaluator = VectorEvaluate(self.ann_file) self.evaluator = VectorEvaluate(self.ann_file)
print('len of the results', len(results)) print('len of the results', len(results))
result_path = self.format_results(results, denormalize=True, prefix=self.work_dir) result_path = self.format_results(results, denormalize=True, prefix=self.work_dir)
result_dict = self.evaluator.evaluate(result_path, logger=logger) result_dict = self.evaluator.evaluate(result_path, logger=logger)
...@@ -165,7 +168,7 @@ class BaseMapDataset(Dataset): ...@@ -165,7 +168,7 @@ class BaseMapDataset(Dataset):
int: Length of data infos. int: Length of data infos.
""" """
return len(self.samples) return len(self.samples)
def _rand_another(self, idx): def _rand_another(self, idx):
"""Randomly get another item. """Randomly get another item.
...@@ -183,4 +186,3 @@ class BaseMapDataset(Dataset): ...@@ -183,4 +186,3 @@ class BaseMapDataset(Dataset):
input_dict = self.get_sample(idx) input_dict = self.get_sample(idx)
data = self.pipeline(input_dict) data = self.pipeline(input_dict)
return data return data
autonomous_driving/Online-HD-Map-Construction/src/datasets/evaluation/AP.py
View file @ 41b18fd8
import numpy as np
from .distance import chamfer_distance, frechet_distance
from typing import List, Tuple, Union from typing import List, Tuple, Union
import numpy as np
from numpy.typing import NDArray from numpy.typing import NDArray
from .distance import chamfer_distance, frechet_distance
def average_precision(recalls, precisions, mode='area'): def average_precision(recalls, precisions, mode='area'):
"""Calculate average precision. """Calculate average precision.
Args: Args:
recalls (ndarray): shape (num_dets, ) recalls (ndarray): shape (num_dets, )
...@@ -31,11 +34,11 @@ def average_precision(recalls, precisions, mode='area'): ...@@ -31,11 +34,11 @@ def average_precision(recalls, precisions, mode='area'):
mpre = np.hstack((zeros, precisions, zeros)) mpre = np.hstack((zeros, precisions, zeros))
for i in range(mpre.shape[1] - 1, 0, -1): for i in range(mpre.shape[1] - 1, 0, -1):
mpre[:, i - 1] = np.maximum(mpre[:, i - 1], mpre[:, i]) mpre[:, i - 1] = np.maximum(mpre[:, i - 1], mpre[:, i])
ind = np.where(mrec[0, 1:] != mrec[0, :-1])[0] ind = np.where(mrec[0, 1:] != mrec[0, :-1])[0]
ap = np.sum( ap = np.sum(
(mrec[0, ind + 1] - mrec[0, ind]) * mpre[0, ind + 1]) (mrec[0, ind + 1] - mrec[0, ind]) * mpre[0, ind + 1])
elif mode == '11points': elif mode == '11points':
for thr in np.arange(0, 1 + 1e-3, 0.1): for thr in np.arange(0, 1 + 1e-3, 0.1):
precs = precisions[0, recalls[i, :] >= thr] precs = precisions[0, recalls[i, :] >= thr]
...@@ -45,14 +48,15 @@ def average_precision(recalls, precisions, mode='area'): ...@@ -45,14 +48,15 @@ def average_precision(recalls, precisions, mode='area'):
else: else:
raise ValueError( raise ValueError(
'Unrecognized mode, only "area" and "11points" are supported') 'Unrecognized mode, only "area" and "11points" are supported')
return ap return ap
def instance_match(pred_lines: List[NDArray],
scores: NDArray, def instance_match(pred_lines: List[NDArray],
gt_lines: List[NDArray], scores: NDArray,
thresholds: Union[Tuple, List], gt_lines: List[NDArray],
metric: str='chamfer') -> List: thresholds: Union[Tuple, List],
metric: str = 'chamfer') -> List:
"""Compute whether detected lines are true positive or false positive. """Compute whether detected lines are true positive or false positive.
Args: Args:
...@@ -71,7 +75,7 @@ def instance_match(pred_lines: List[NDArray], ...@@ -71,7 +75,7 @@ def instance_match(pred_lines: List[NDArray],
elif metric == 'frechet': elif metric == 'frechet':
distance_fn = frechet_distance distance_fn = frechet_distance
else: else:
raise ValueError(f'unknown distance function {metric}') raise ValueError(f'unknown distance function {metric}')
...@@ -89,7 +93,7 @@ def instance_match(pred_lines: List[NDArray], ...@@ -89,7 +93,7 @@ def instance_match(pred_lines: List[NDArray],
for thr in thresholds: for thr in thresholds:
tp_fp_list.append((tp.copy(), fp.copy())) tp_fp_list.append((tp.copy(), fp.copy()))
return tp_fp_list return tp_fp_list
if num_preds == 0: if num_preds == 0:
for thr in thresholds: for thr in thresholds:
tp_fp_list.append((tp.copy(), fp.copy())) tp_fp_list.append((tp.copy(), fp.copy()))
...@@ -126,7 +130,7 @@ def instance_match(pred_lines: List[NDArray], ...@@ -126,7 +130,7 @@ def instance_match(pred_lines: List[NDArray],
fp[i] = 1 fp[i] = 1
else: else:
fp[i] = 1 fp[i] = 1
tp_fp_list.append((tp, fp)) tp_fp_list.append((tp, fp))
return tp_fp_list return tp_fp_list
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/datasets/evaluation/distance.py
View file @ 41b18fd8
from scipy.spatial import distance
from numpy.typing import NDArray from numpy.typing import NDArray
from scipy.spatial import distance
def chamfer_distance(line1: NDArray, line2: NDArray) -> float: def chamfer_distance(line1: NDArray, line2: NDArray) -> float:
''' Calculate chamfer distance between two lines. Make sure the ''' Calculate chamfer distance between two lines. Make sure the
lines are interpolated. lines are interpolated.
Args: Args:
line1 (array): coordinates of line1 line1 (array): coordinates of line1
line2 (array): coordinates of line2 line2 (array): coordinates of line2
Returns: Returns:
distance (float): chamfer distance distance (float): chamfer distance
''' '''
dist_matrix = distance.cdist(line1, line2, 'euclidean') dist_matrix = distance.cdist(line1, line2, 'euclidean')
dist12 = dist_matrix.min(-1).sum() / len(line1) dist12 = dist_matrix.min(-1).sum() / len(line1)
dist21 = dist_matrix.min(-2).sum() / len(line2) dist21 = dist_matrix.min(-2).sum() / len(line2)
return (dist12 + dist21) / 2 return (dist12 + dist21) / 2
def frechet_distance(line1: NDArray, line2: NDArray) -> float: def frechet_distance(line1: NDArray, line2: NDArray) -> float:
''' Calculate frechet distance between two lines. Make sure the ''' Calculate frechet distance between two lines. Make sure the
lines are interpolated. lines are interpolated.
Args: Args:
line1 (array): coordinates of line1 line1 (array): coordinates of line1
line2 (array): coordinates of line2 line2 (array): coordinates of line2
Returns: Returns:
distance (float): frechet distance distance (float): frechet distance
''' '''
raise NotImplementedError
raise NotImplementedError
autonomous_driving/Online-HD-Map-Construction/src/datasets/evaluation/vector_eval.py
View file @ 41b18fd8
from functools import partial from functools import partial
import numpy as np from logging import Logger
from multiprocessing import Pool from multiprocessing import Pool
from mmdet3d.datasets import build_dataset, build_dataloader from time import time
from typing import Dict, List, Optional
import mmcv import mmcv
from .AP import instance_match, average_precision import numpy as np
import prettytable import prettytable
from time import time
from functools import cached_property
from shapely.geometry import LineString
from numpy.typing import NDArray from numpy.typing import NDArray
from typing import Dict, List, Optional from shapely.geometry import LineString
from logging import Logger
from mmcv import Config
from copy import deepcopy
INTERP_NUM = 100 # number of points to interpolate during evaluation from .AP import average_precision, instance_match
SAMPLE_DIST = 0.3 # fixed sample distance
THRESHOLDS = [0.5, 1.0, 1.5] # AP thresholds INTERP_NUM = 100 # number of points to interpolate during evaluation
N_WORKERS = 16 # num workers to parallel SAMPLE_DIST = 0.3 # fixed sample distance
THRESHOLDS = [0.5, 1.0, 1.5] # AP thresholds
N_WORKERS = 16 # num workers to parallel
CAT2ID = { CAT2ID = {
'ped_crossing': 0, 'ped_crossing': 0,
...@@ -25,6 +23,7 @@ CAT2ID = { ...@@ -25,6 +23,7 @@ CAT2ID = {
'boundary': 2, 'boundary': 2,
} }
class VectorEvaluate(object): class VectorEvaluate(object):
"""Evaluator for vectorized map. """Evaluator for vectorized map.
...@@ -33,7 +32,7 @@ class VectorEvaluate(object): ...@@ -33,7 +32,7 @@ class VectorEvaluate(object):
n_workers (int): num workers to parallel n_workers (int): num workers to parallel
""" """
def __init__(self, ann_file, n_workers: int=N_WORKERS) -> None: def __init__(self, ann_file, n_workers: int = N_WORKERS) -> None:
ann = mmcv.load(ann_file) ann = mmcv.load(ann_file)
gts = {} gts = {}
for seg_id, seq in ann.items(): for seg_id, seq in ann.items():
...@@ -42,69 +41,69 @@ class VectorEvaluate(object): ...@@ -42,69 +41,69 @@ class VectorEvaluate(object):
for cat, vectors in frame['annotation'].items(): for cat, vectors in frame['annotation'].items():
# only evaluate in 2-dimension # only evaluate in 2-dimension
ann[cat] = [np.array(v)[:, :2] for v in vectors] ann[cat] = [np.array(v)[:, :2] for v in vectors]
gts[frame['timestamp']] = ann gts[frame['timestamp']] = ann
self.gts = gts self.gts = gts
self.n_workers = n_workers self.n_workers = n_workers
self.cat2id = CAT2ID self.cat2id = CAT2ID
self.id2cat = {v: k for k, v in self.cat2id.items()} self.id2cat = {v: k for k, v in self.cat2id.items()}
def interp_fixed_num(self, def interp_fixed_num(self,
vector: NDArray, vector: NDArray,
num_pts: int) -> NDArray: num_pts: int) -> NDArray:
''' Interpolate a polyline. ''' Interpolate a polyline.
Args: Args:
vector (array): line coordinates, shape (M, 2) vector (array): line coordinates, shape (M, 2)
num_pts (int): num_pts (int):
Returns: Returns:
sampled_points (array): interpolated coordinates sampled_points (array): interpolated coordinates
''' '''
line = LineString(vector) line = LineString(vector)
distances = np.linspace(0, line.length, num_pts) distances = np.linspace(0, line.length, num_pts)
sampled_points = np.array([list(line.interpolate(distance).coords) sampled_points = np.array([list(line.interpolate(distance).coords)
for distance in distances]).squeeze() for distance in distances]).squeeze()
return sampled_points return sampled_points
def interp_fixed_dist(self, def interp_fixed_dist(self,
vector: NDArray, vector: NDArray,
sample_dist: float) -> NDArray: sample_dist: float) -> NDArray:
''' Interpolate a line at fixed interval. ''' Interpolate a line at fixed interval.
Args: Args:
vector (LineString): vector vector (LineString): vector
sample_dist (float): sample interval sample_dist (float): sample interval
Returns: Returns:
points (array): interpolated points, shape (N, 2) points (array): interpolated points, shape (N, 2)
''' '''
line = LineString(vector) line = LineString(vector)
distances = list(np.arange(sample_dist, line.length, sample_dist)) distances = list(np.arange(sample_dist, line.length, sample_dist))
# make sure to sample at least two points when sample_dist > line.length # make sure to sample at least two points when sample_dist > line.length
distances = [0,] + distances + [line.length,] distances = [0, ] + distances + [line.length, ]
sampled_points = np.array([list(line.interpolate(distance).coords) sampled_points = np.array([list(line.interpolate(distance).coords)
for distance in distances]).squeeze() for distance in distances]).squeeze()
return sampled_points return sampled_points
def _evaluate_single(self, def _evaluate_single(self,
pred_vectors: List, pred_vectors: List,
scores: List, scores: List,
groundtruth: List, groundtruth: List,
thresholds: List, thresholds: List,
metric: str='metric') -> Dict[int, NDArray]: metric: str = 'metric') -> Dict[int, NDArray]:
''' Do single-frame matching for one class. ''' Do single-frame matching for one class.
Args: Args:
pred_vectors (List): List[vector(ndarray) (different length)], pred_vectors (List): List[vector(ndarray) (different length)],
scores (List): List[score(float)] scores (List): List[score(float)]
groundtruth (List): List of vectors groundtruth (List): List of vectors
thresholds (List): List of thresholds thresholds (List): List of thresholds
Returns: Returns:
tp_fp_score_by_thr (Dict): matching results at different thresholds tp_fp_score_by_thr (Dict): matching results at different thresholds
e.g. {0.5: (M, 2), 1.0: (M, 2), 1.5: (M, 2)} e.g. {0.5: (M, 2), 1.0: (M, 2), 1.5: (M, 2)}
...@@ -125,36 +124,36 @@ class VectorEvaluate(object): ...@@ -125,36 +124,36 @@ class VectorEvaluate(object):
# vector_interp = self.interp_fixed_num(vector, INTERP_NUM) # vector_interp = self.interp_fixed_num(vector, INTERP_NUM)
vector_interp = self.interp_fixed_dist(vector, SAMPLE_DIST) vector_interp = self.interp_fixed_dist(vector, SAMPLE_DIST)
gt_lines.append(vector_interp) gt_lines.append(vector_interp)
scores = np.array(scores) scores = np.array(scores)
tp_fp_list = instance_match(pred_lines, scores, gt_lines, thresholds, metric) # (M, 2) tp_fp_list = instance_match(pred_lines, scores, gt_lines, thresholds, metric) # (M, 2)
tp_fp_score_by_thr = {} tp_fp_score_by_thr = {}
for i, thr in enumerate(thresholds): for i, thr in enumerate(thresholds):
tp, fp = tp_fp_list[i] tp, fp = tp_fp_list[i]
tp_fp_score = np.hstack([tp[:, None], fp[:, None], scores[:, None]]) tp_fp_score = np.hstack([tp[:, None], fp[:, None], scores[:, None]])
tp_fp_score_by_thr[thr] = tp_fp_score tp_fp_score_by_thr[thr] = tp_fp_score
return tp_fp_score_by_thr # {0.5: (M, 2), 1.0: (M, 2), 1.5: (M, 2)} return tp_fp_score_by_thr # {0.5: (M, 2), 1.0: (M, 2), 1.5: (M, 2)}
def evaluate(self, def evaluate(self,
result_path: str, result_path: str,
metric: str='chamfer', metric: str = 'chamfer',
logger: Optional[Logger]=None) -> Dict[str, float]: logger: Optional[Logger] = None) -> Dict[str, float]:
''' Do evaluation for a submission file and print evalution results to `logger` if specified. ''' Do evaluation for a submission file and print evalution results to `logger` if specified.
The submission will be aligned by tokens before evaluation. We use multi-worker to speed up. The submission will be aligned by tokens before evaluation. We use multi-worker to speed up.
Args: Args:
result_path (str): path to submission file result_path (str): path to submission file
metric (str): distance metric. Default: 'chamfer' metric (str): distance metric. Default: 'chamfer'
logger (Logger): logger to print evaluation result, Default: None logger (Logger): logger to print evaluation result, Default: None
Returns: Returns:
new_result_dict (Dict): evaluation results. AP by categories. new_result_dict (Dict): evaluation results. AP by categories.
''' '''
results = mmcv.load(result_path) results = mmcv.load(result_path)
results = results['results'] results = results['results']
# re-group samples and gt by label # re-group samples and gt by label
samples_by_cls = {label: [] for label in self.id2cat.keys()} samples_by_cls = {label: [] for label in self.id2cat.keys()}
num_gts = {label: 0 for label in self.id2cat.keys()} num_gts = {label: 0 for label in self.id2cat.keys()}
...@@ -166,7 +165,7 @@ class VectorEvaluate(object): ...@@ -166,7 +165,7 @@ class VectorEvaluate(object):
pred = results[token] pred = results[token]
else: else:
pred = {'vectors': [], 'scores': [], 'labels': []} pred = {'vectors': [], 'scores': [], 'labels': []}
# for every sample # for every sample
vectors_by_cls = {label: [] for label in self.id2cat.keys()} vectors_by_cls = {label: [] for label in self.id2cat.keys()}
scores_by_cls = {label: [] for label in self.id2cat.keys()} scores_by_cls = {label: [] for label in self.id2cat.keys()}
...@@ -192,11 +191,11 @@ class VectorEvaluate(object): ...@@ -192,11 +191,11 @@ class VectorEvaluate(object):
start = time() start = time()
if self.n_workers > 0: if self.n_workers > 0:
pool = Pool(self.n_workers) pool = Pool(self.n_workers)
sum_mAP = 0 sum_mAP = 0
pbar = mmcv.ProgressBar(len(self.id2cat)) pbar = mmcv.ProgressBar(len(self.id2cat))
for label in self.id2cat.keys(): for label in self.id2cat.keys():
samples = samples_by_cls[label] # List[(pred_lines, scores, gts)] samples = samples_by_cls[label] # List[(pred_lines, scores, gts)]
result_dict[self.id2cat[label]] = { result_dict[self.id2cat[label]] = {
'num_gts': num_gts[label], 'num_gts': num_gts[label],
'num_preds': num_preds[label] 'num_preds': num_preds[label]
...@@ -210,14 +209,14 @@ class VectorEvaluate(object): ...@@ -210,14 +209,14 @@ class VectorEvaluate(object):
tpfp_score_list = [] tpfp_score_list = []
for sample in samples: for sample in samples:
tpfp_score_list.append(fn(*sample)) tpfp_score_list.append(fn(*sample))
for thr in THRESHOLDS: for thr in THRESHOLDS:
tp_fp_score = [i[thr] for i in tpfp_score_list] tp_fp_score = [i[thr] for i in tpfp_score_list]
tp_fp_score = np.vstack(tp_fp_score) # (num_dets, 3) tp_fp_score = np.vstack(tp_fp_score) # (num_dets, 3)
sort_inds = np.argsort(-tp_fp_score[:, -1]) sort_inds = np.argsort(-tp_fp_score[:, -1])
tp = tp_fp_score[sort_inds, 0] # (num_dets,) tp = tp_fp_score[sort_inds, 0] # (num_dets,)
fp = tp_fp_score[sort_inds, 1] # (num_dets,) fp = tp_fp_score[sort_inds, 1] # (num_dets,)
tp = np.cumsum(tp, axis=0) tp = np.cumsum(tp, axis=0)
fp = np.cumsum(fp, axis=0) fp = np.cumsum(fp, axis=0)
eps = np.finfo(np.float32).eps eps = np.finfo(np.float32).eps
...@@ -229,38 +228,38 @@ class VectorEvaluate(object): ...@@ -229,38 +228,38 @@ class VectorEvaluate(object):
result_dict[self.id2cat[label]].update({f'AP@{thr}': AP}) result_dict[self.id2cat[label]].update({f'AP@{thr}': AP})
pbar.update() pbar.update()
AP = sum_AP / len(THRESHOLDS) AP = sum_AP / len(THRESHOLDS)
sum_mAP += AP sum_mAP += AP
result_dict[self.id2cat[label]].update({f'AP': AP}) result_dict[self.id2cat[label]].update({f'AP': AP})
if self.n_workers > 0: if self.n_workers > 0:
pool.close() pool.close()
mAP = sum_mAP / len(self.id2cat.keys()) mAP = sum_mAP / len(self.id2cat.keys())
result_dict.update({'mAP': mAP}) result_dict.update({'mAP': mAP})
print(f"finished in {time() - start:.2f}s") print(f'finished in {time() - start:.2f}s')
# print results # print results
table = prettytable.PrettyTable(['category', 'num_preds', 'num_gts'] + table = prettytable.PrettyTable(['category', 'num_preds', 'num_gts'] +
[f'AP@{thr}' for thr in THRESHOLDS] + ['AP']) [f'AP@{thr}' for thr in THRESHOLDS] + ['AP'])
for label in self.id2cat.keys(): for label in self.id2cat.keys():
table.add_row([ table.add_row([
self.id2cat[label], self.id2cat[label],
result_dict[self.id2cat[label]]['num_preds'], result_dict[self.id2cat[label]]['num_preds'],
result_dict[self.id2cat[label]]['num_gts'], result_dict[self.id2cat[label]]['num_gts'],
*[round(result_dict[self.id2cat[label]][f'AP@{thr}'], 4) for thr in THRESHOLDS], *[round(result_dict[self.id2cat[label]][f'AP@{thr}'], 4) for thr in THRESHOLDS],
round(result_dict[self.id2cat[label]]['AP'], 4), round(result_dict[self.id2cat[label]]['AP'], 4),
]) ])
from mmcv.utils import print_log from mmcv.utils import print_log
print_log('\n'+str(table), logger=logger) print_log('\n' + str(table), logger=logger)
print_log(f'mAP = {mAP:.4f}\n', logger=logger) print_log(f'mAP = {mAP:.4f}\n', logger=logger)
new_result_dict = {} new_result_dict = {}
for name in self.cat2id: for name in self.cat2id:
new_result_dict[name] = result_dict[name]['AP'] new_result_dict[name] = result_dict[name]['AP']
return new_result_dict return new_result_dict
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/datasets/pipelines/__init__.py
View file @ 41b18fd8
from .loading import LoadMultiViewImagesFromFiles
from .formating import FormatBundleMap from .formating import FormatBundleMap
from .transform import ResizeMultiViewImages, PadMultiViewImages, Normalize3D from .loading import LoadMultiViewImagesFromFiles
from .vectorize import VectorizeMap
from .poly_bbox import PolygonizeLocalMapBbox from .poly_bbox import PolygonizeLocalMapBbox
from .transform import Normalize3D, PadMultiViewImages, ResizeMultiViewImages
from .vectorize import VectorizeMap
# for argoverse # for argoverse
__all__ = [ __all__ = [
'LoadMultiViewImagesFromFiles', 'LoadMultiViewImagesFromFiles',
'FormatBundleMap', 'Normalize3D', 'ResizeMultiViewImages', 'PadMultiViewImages', 'FormatBundleMap', 'Normalize3D', 'ResizeMultiViewImages', 'PadMultiViewImages',
'VectorizeMap', 'PolygonizeLocalMapBbox' 'VectorizeMap', 'PolygonizeLocalMapBbox'
] ]
\ No newline at end of file
autonomous_driving/Online-HD-Map-Construction/src/datasets/pipelines/formating.py
View file @ 41b18fd8
import numpy as np import numpy as np
from mmcv.parallel import DataContainer as DC from mmcv.parallel import DataContainer as DC
from mmdet3d.core.points import BasePoints from mmdet3d.core.points import BasePoints
from mmdet.datasets.builder import PIPELINES from mmdet.datasets.builder import PIPELINES
from mmdet.datasets.pipelines import to_tensor from mmdet.datasets.pipelines import to_tensor
@PIPELINES.register_module() @PIPELINES.register_module()
class FormatBundleMap(object): class FormatBundleMap(object):
"""Format data for map tasks and then collect data for model input. """Format data for map tasks and then collect data for model input.
...@@ -17,10 +17,10 @@ class FormatBundleMap(object): ...@@ -17,10 +17,10 @@ class FormatBundleMap(object):
- img_metas: (1) to DataContainer (cpu_only=True) - img_metas: (1) to DataContainer (cpu_only=True)
""" """
def __init__(self, process_img=True, def __init__(self, process_img=True,
keys=['img', 'semantic_mask', 'vectors'], keys=['img', 'semantic_mask', 'vectors'],
meta_keys=['intrinsics', 'extrinsics']): meta_keys=['intrinsics', 'extrinsics']):
self.process_img = process_img self.process_img = process_img
self.keys = keys self.keys = keys
self.meta_keys = meta_keys self.meta_keys = meta_keys
...@@ -54,7 +54,7 @@ class FormatBundleMap(object): ...@@ -54,7 +54,7 @@ class FormatBundleMap(object):
else: else:
img = np.ascontiguousarray(results['img'].transpose(2, 0, 1)) img = np.ascontiguousarray(results['img'].transpose(2, 0, 1))
results['img'] = DC(to_tensor(img), stack=True) results['img'] = DC(to_tensor(img), stack=True)
if 'semantic_mask' in results: if 'semantic_mask' in results:
results['semantic_mask'] = DC(to_tensor(results['semantic_mask']), stack=True) results['semantic_mask'] = DC(to_tensor(results['semantic_mask']), stack=True)
...@@ -62,7 +62,7 @@ class FormatBundleMap(object): ...@@ -62,7 +62,7 @@ class FormatBundleMap(object):
# vectors may have different sizes # vectors may have different sizes
vectors = results['vectors'] vectors = results['vectors']
results['vectors'] = DC(vectors, stack=False, cpu_only=True) results['vectors'] = DC(vectors, stack=False, cpu_only=True)
if 'polys' in results: if 'polys' in results:
results['polys'] = DC(results['polys'], stack=False, cpu_only=True) results['polys'] = DC(results['polys'], stack=False, cpu_only=True)
......
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