Merge branch 'master' of github.com:ut-amrl/coda-models

docs/GETTING_STARTED.md

@@ -94,6 +94,33 @@ python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos \
 
 Note that you do not need to install `waymo-open-dataset` if you have already processed the data before and do not need to evaluate with official Waymo Metrics. 
 
+# Using Pretrained Models
+
+## Visualize Detector Performance on CODa
+
+Before visualizing object detections on CODa, you will first need to download the pre-trained model weights. Then, run the following command, specifying the path to the model weights.
+
+```
+python demo.py --ckpt ../output/da-coda-coda_models/waymocenterhead/pvrcnn_allclass128full_finetune_headfull/coda128bestwaymoLR0.010000OPTadam_onecycle/ckpt/checkpoint_epoch_30.pth
+```
+
+## Visualize Detector Performance on Custom Dataset
+
+To visualize the pre-trained model predictions on your dataset. Create a directory named `velodyne` and place the `.bin` files that you would like to use in this directory. Then set the `--data_path` cli argument to the parent directory for your `velodyne` directory. The file structure should look as follows:
+
+```
+PARENT_DIRECTORY
+├── velodyne
+│   ├── "000000.bin"
+│   ├── ...
+```
+
+Then, run the set the `--ckpt` argument to your model weights path and run the command below to visualize the predictions on Open3D.  
+
+```
+python demo.py --ckpt ../output/da-coda-coda_models/waymocenterhead/pvrcnn_allclass128full_finetune_headfull/coda128bestwaymoLR0.010000OPTadam_onecycle/ckpt/checkpoint_epoch_30.pth --dataset_name demo --data_path {PARENT_DIRECTORY} --ext .bin
+```
+
 ## Training & Testing
 
 

rviz/codaros.rviz

@@ -0,0 +1,202 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /MarkerArray1
+      Splitter Ratio: 0.5
+    Tree Height: 1417
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 0.5
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 6.886433124542236
+        Min Value: -3.171941041946411
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07000000029802322
+      Style: Squares
+      Topic: /coda/ouster/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /coda/bbox_3d
+      Name: MarkerArray
+      Namespaces:
+        0: true
+        1: true
+        10: true
+        11: true
+        12: true
+        13: true
+        14: true
+        15: true
+        16: true
+        17: true
+        18: true
+        19: true
+        2: true
+        20: true
+        21: true
+        22: true
+        23: true
+        24: true
+        25: true
+        26: true
+        27: true
+        28: true
+        29: true
+        3: true
+        30: true
+        31: true
+        32: true
+        33: true
+        34: true
+        35: true
+        36: true
+        37: true
+        38: true
+        39: true
+        4: true
+        40: true
+        41: true
+        42: true
+        43: true
+        44: true
+        45: true
+        5: true
+        6: true
+        7: true
+        8: true
+        9: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: os_sensor
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 20.628646850585938
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 2.0638067722320557
+        Y: -4.552268028259277
+        Z: 2.7838072776794434
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7197972536087036
+      Target Frame: <Fixed Frame>
+      Yaw: 2.2985265254974365
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1748
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016100000625fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004700000625000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000050efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000470000050e000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000aa600000040fc0100000002fb0000000800540069006d0065010000000000000aa60000045a00fffffffb0000000800540069006d006501000000000000045000000000000000000000093e0000062500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2726
+  X: 72
+  Y: 34

tools/demo.py

@@ -48,7 +48,6 @@ def __init__(self, dataset_cfg, class_names, training=True, root_path=None, logg
         gtbbox_list = glob.glob(str(root_path / "label_all" / f'*.txt'))
         # data_file_list = glob.glob(str(root_path / f'*{self.ext}')) if self.root_path.is_dir() else [self.root_path]
 
-
         data_file_list.sort()
         gtbbox_list.sort()
         self.sample_file_list = data_file_list
@@ -96,6 +95,9 @@ def parse_config():
     parser.add_argument('--data_path', type=str, default='../data/coda128_allclass_full',
                         help='specify the point cloud data file or directory')
     parser.add_argument('--ckpt', type=str, default=None, help='specify the pretrained model')
+    parser.add_argument('--show_gt', type=str, default=False, help='Visualize ground truth annotations')
+    parser.add_argument('--show_preds', type=str, default=True, help='Predict and visualize bounding boxes')
+    parser.add_argument('--dataset_name', type=str, default="coda", help='Dataloader to use for demo Options: [coda, jrdb, demo]')
     parser.add_argument('--ext', type=str, default='.bin', help='specify the extension of your point cloud data file')
     parser.add_argument('--stat_path', type=str, default=None, help='specify the root path to each frame true positive, false positive, and false negative results')
 
@@ -110,11 +112,11 @@ def main():
     logger = common_utils.create_logger()
     logger.info('-----------------Quick Demo of OpenPCDet-------------------------')
 
-    use_dataset = "coda"
+    use_dataset = args.dataset_name
     gen_video = True
     do_preds = True # Set to true to do inference, otherwise just views ground truth
-    show_preds = True
-    show_gt = False
+    show_preds = args.show_preds
+    show_gt = args.show_gt
 
     if use_dataset=="coda":
         demo_dataset = CODataset(
@@ -131,6 +133,7 @@ def main():
             dataset_cfg=cfg.DATA_CONFIG, class_names=cfg.CLASS_NAMES, training=False,
             root_path=Path(args.data_path), ext=args.ext, logger=logger
         )
+        color_map = normalize_color(coda_utils.BBOX_ID_TO_COLOR)
 
     model=None
     if do_preds: