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test_tracking_waymo.py
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test_tracking_waymo.py
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import time
import os
import logging
import argparse
import random
from pyquaternion import Quaternion
import numpy as np
from tqdm import tqdm
import torch
import kitty_utils as utils
import copy
from datetime import datetime
from metrics import AverageMeter, Success, Precision
from metrics import estimateOverlap, estimateAccuracy, estimateIOU3d
from waymo_dataset import WaymoSiameseDataset
import torch.nn.functional as F
from torch.autograd import Variable
from pointnet2.models import get_model
def _transform(self, pc, T):
assert pc.shape[1] == 3
pc = np.concatenate([pc, np.ones((pc.shape[0], 1))], axis=1)
transformed_pc = T @ np.transpose(pc)
transformed_pc = np.transpose(transformed_pc)
transformed_pc = transformed_pc[:, :3]
return transformed_pc
def pose_compensate(self, T0, T1, points):
T_trans = np.linalg.inv(T1) @ T0
pts = self._transform(np.copy(points[:, :3]), T_trans)
return np.concatenate((pts, points[:, 3:]), axis=1)
def test(loader, model, epoch=-1,
shape_aggregation="",
reference_BB="",
model_fusion="pointcloud",
max_iter=-1,
IoU_Space=3,
align=True):
"""
"""
dataset = loader
batch_time = AverageMeter()
data_time = AverageMeter()
Success_main = Success()
Precision_main = Precision()
Success_batch = Success()
Precision_batch = Precision()
# switch to evaluate mode
model.eval()
end = time.time()
batch_num = 0
for tracklet_idx in range(len(loader)):
batch_num = batch_num+1
data_time.update((time.time() - end))
seq_len = len(loader.tracklets[tracklet_idx])
samples = [loader.getitem(tracklet_idx, sample_idx, return_raw=True) for sample_idx in range(seq_len)]
PCs = [s['pc'] for s in samples]
BBs = [s['box'] for s in samples]
poses = [s['pose'] for s in samples]
# for sample_idx in range(seq_len):
results_BBs = []
for i, _ in enumerate(PCs):
# this_anno = list_of_anno[i]
this_BB = BBs[i]
this_PC = PCs[i]
pose_this = poses[i]
gt_boxs = []
result_boxs = []
# INITIAL FRAME
if i == 0:
box = BBs[i]
results_BBs.append(box)
model_PC = utils.getModel([this_PC], [this_BB],
offset=dataset.offset_BB,
scale=dataset.scale_BB)
else:
previous_BB = BBs[i - 1]
# DEFINE REFERENCE BB
if ("previous_result".upper() in reference_BB.upper()):
ref_BB = results_BBs[-1]
pose_prev = poses[i - 1]
elif ("previous_gt".upper() in reference_BB.upper()):
ref_BB = previous_BB
pose_prev = poses[i - 1]
# ref_BB = utils.getOffsetBB(this_BB,np.array([-1,1,1]))
elif ("current_gt".upper() in reference_BB.upper()):
ref_BB = this_BB
pose_prev = poses[i]
if align:
ref_BB = copy.deepcopy(ref_BB)
# ref_BB.center = pose_compensate(pose_prev, pose_this, ref_BB.center[None, ...])[0]
ref_BB.transform(np.linalg.inv(pose_this) @ pose_prev)
candidate_PC, candidate_label, candidate_reg, new_ref_box, new_this_box = \
utils.cropAndCenterPC_label_test(this_PC,
ref_BB, this_BB,
offset=dataset.offset_BB,
scale=dataset.scale_BB)
candidate_PCs, candidate_labels, candidate_reg = utils.regularizePCwithlabel(
candidate_PC, candidate_label,candidate_reg,
dataset.input_size, istrain=False, keep_first_half=False)
candidate_PCs_torch = candidate_PCs.unsqueeze(0).cuda()
# AGGREGATION: IO vs ONLY0 vs ONLYI vs ALL
if ("firstandprevious".upper() in shape_aggregation.upper()):
model_PC = utils.getModel(
[PCs[0], PCs[i-1]],
[results_BBs[0], results_BBs[i-1]],
offset=dataset.offset_BB,
scale=dataset.scale_BB)
elif ("first".upper() in shape_aggregation.upper()):
model_PC = utils.getModel(
[PCs[0]], [results_BBs[0]],
offset=dataset.offset_BB,
scale=dataset.scale_BB)
elif ("previous".upper() in shape_aggregation.upper()):
model_PC = utils.getModel(
[PCs[i-1]], [results_BBs[i-1]],
offset=dataset.offset_BB,
scale=dataset.scale_BB)
elif ("all".upper() in shape_aggregation.upper()):
model_PC = utils.getModel(
PCs[:i], results_BBs,
offset=dataset.offset_BB,
scale=dataset.scale_BB)
else:
model_PC = utils.getModel(
PCs[:i], results_BBs,
offset=dataset.offset_BB,
scale=dataset.scale_BB)
model_PC_torch = utils.regularizePC(
model_PC, dataset.input_size,
istrain=False, keep_first_half=True).unsqueeze(0)
model_PC_torch = Variable(
model_PC_torch, requires_grad=False).cuda()
candidate_PCs_torch = Variable(
candidate_PCs_torch, requires_grad=False).cuda()
input_dict = {
'template' : model_PC_torch,
'search' : candidate_PCs_torch
}
output_dict = model(input_dict)
estimation_box = output_dict['estimation_box']
estimation_boxs_cpu = estimation_box.squeeze(0).detach().cpu().numpy()
box_idx = estimation_boxs_cpu[:,4].argmax()
estimation_box_cpu = estimation_boxs_cpu[box_idx, 0:4]
box = utils.getOffsetBB(ref_BB, estimation_box_cpu, training=False)
results_BBs.append(box)
# estimate overlap/accuracy for current sample
this_overlap = estimateIOU3d(BBs[i], results_BBs[-1]) # , estimation_box_cpu[-1])
this_accuracy = estimateAccuracy(BBs[i], results_BBs[-1], dim=IoU_Space)
Success_main.add_overlap(this_overlap)
Precision_main.add_accuracy(this_accuracy)
Success_batch.add_overlap(this_overlap)
Precision_batch.add_accuracy(this_accuracy)
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
print('Test {}: '.format('%d/%d' % (tracklet_idx, len(loader)))+
'Time {:.3f}s '.format(batch_time.avg)+
'(it:{:.3f}s) '.format(batch_time.val)+
'Data:{:.3f}s '.format(data_time.avg)+
'(it:{:.3f}s), '.format(data_time.val)+
'Succ/Prec:'+
'{:.1f}/'.format(Success_main.average)+
'{:.1f}'.format(Precision_main.average))
Success_batch.reset()
Precision_batch.reset()
return Success_main.average, Precision_main.average
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--save_root_dir', type=str, default='./results', help='output folder')
parser.add_argument('--data_dir', type=str, default = './data/waymo_tracking', help='dataset path')
parser.add_argument('--model', type=str, default = 'netR_59.pth', help='model name for training resume')
parser.add_argument('--category_name', type=str, default = 'Vehicle', help='Object to Track (Vehicle/Pedestrian/Cyclist)')
parser.add_argument('--shape_aggregation',required=False,type=str,default="previous",help='Aggregation of shapes (first/previous/firstandprevious/all)')
parser.add_argument('--reference_BB',required=False,type=str,default="previous_result",help='previous_result/previous_gt/current_gt')
parser.add_argument('--model_fusion',required=False,type=str,default="pointcloud",help='early or late fusion (pointcloud/latent/space)')
parser.add_argument('--IoU_Space',required=False,type=int,default=3,help='IoUBox vs IoUBEV (2 vs 3)')
parser.add_argument('--input_size', type=int, default=1024)
parser.add_argument('--align', action='store_true')
args = parser.parse_args()
print (args)
opt = args
logging.basicConfig(format='%(asctime)s %(message)s', datefmt='%Y/%m/%d %H:%M:%S', \
filename=os.path.join(args.save_root_dir, datetime.now().strftime('%Y-%m-%d %H-%M-%S.log')), level=logging.INFO)
logging.info('======================================================')
args.manualSeed = 1
random.seed(args.manualSeed)
torch.manual_seed(args.manualSeed)
netR = get_model(name='T', # args.type,
input_channels=0,
use_xyz=True,
input_size=args.input_size)
netR = torch.nn.DataParallel(netR)
if args.model != '':
netR.load_state_dict(torch.load(os.path.join(args.save_root_dir, args.model)), strict=False)
netR.cuda()
torch.cuda.synchronize()
test_data = WaymoSiameseDataset(
input_size=args.input_size,
path=os.path.join(args.data_dir, 'test'),
category_name=opt.category_name,
offset_BB=0.1,
scale_BB=1.0)
Success_run = AverageMeter()
Precision_run = AverageMeter()
max_epoch = 1
for epoch in range(max_epoch):
Succ, Prec = test(
test_data,
netR,
epoch=epoch + 1,
shape_aggregation=args.shape_aggregation,
reference_BB=args.reference_BB,
model_fusion=args.model_fusion,
IoU_Space=args.IoU_Space,
align=args.align)
Success_run.update(Succ)
Precision_run.update(Prec)
logging.info("mean Succ/Prec {}/{}".format(Success_run.avg, Precision_run.avg))
print("mean Succ/Prec {}/{}".format(Success_run.avg, Precision_run.avg))