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--git a/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/initial_pseudo_labels.pkl b/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/initial_pseudo_labels.pkl new file mode 100644 index 0000000000000000000000000000000000000000..623870ea905eab66b83191d11658a4b5e7b6e202 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/initial_pseudo_labels.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a48e9fc484f66f1683ef6b14457817ed576f1916d7acb900f1cff88ac87023cd +size 731831 diff --git a/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/modified_frames.txt b/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/modified_frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..88e5cf9492f1a1e43051c25cf2c4f9bdb3ea85f1 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels/modified_frames.txt @@ -0,0 +1,2 @@ +00000 +00400 diff --git 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0000000000000000000000000000000000000000..3f9d4258b514f8a1a59e9fb4278cb447e8262d90 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/ps_labels_early/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:926248e52d1fa532c317e37da24ed652ae64110f8219cb5e061668bd3091f048 +size 5 diff --git a/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/m3ed_dataset.yaml b/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd3cf0e1ac3bbe4cb6c40b3f10f4b2b721e3a171 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: art_plaza_loop +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..192a9c977b4a5792231467b02fc35855989fe5f6 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.99,0.25,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Day/art_plaza_loop/spot_outdoor_day_art_plaza_loop_pose_gt.h5 b/processed/Quadruped/Outdoor_Day/art_plaza_loop/spot_outdoor_day_art_plaza_loop_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b62e0b5faa06586b523699075f687c2846519c34 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/art_plaza_loop/spot_outdoor_day_art_plaza_loop_pose_gt.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7173804cdfcf968cbb582347f0e9390054e6fdd40687226a2140aa8a7d2c98f8 +size 401504 diff --git a/processed/Quadruped/Outdoor_Day/dl.sh b/processed/Quadruped/Outdoor_Day/dl.sh new file mode 100644 index 0000000000000000000000000000000000000000..77238dfffbeb3641a0ac924ab3dc461ee43e4df2 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/dl.sh @@ -0,0 +1,10 @@ +#!/bin/bash + + + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/spot_outdoor_day_srt_green_loop/spot_outdoor_day_srt_green_loop_data.h5 + + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/spot_outdoor_day_art_plaza_loop/spot_outdoor_day_art_plaza_loop_data.h5 + + diff --git a/processed/Quadruped/Outdoor_Day/penno_short_loop/cut_data.h5 b/processed/Quadruped/Outdoor_Day/penno_short_loop/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bb8bed2e0fa08e3c7914f4d09c2c8b04f1bc9fd --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/penno_short_loop/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39eb3af9661cf6b2529dcf136d68aaafbe5026546d7837b1e51e4cfce3af698 +size 6857294539 diff --git a/processed/Quadruped/Outdoor_Day/penno_short_loop/ps_labels/final_ps_dict.pkl b/processed/Quadruped/Outdoor_Day/penno_short_loop/ps_labels/final_ps_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..83f6b0e34bb4a6a9854db8b62648418aee46bcbf --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/penno_short_loop/ps_labels/final_ps_dict.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a4dd8bda09d29e3a9a83f183fb38ec8a80f22c9b97b81f1b9bfcdf46c180b5f +size 1435629 diff --git a/processed/Quadruped/Outdoor_Day/penno_short_loop/ps_labels/initial_pseudo_labels.pkl 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lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/penno_short_loop/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/penno_short_loop/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52a59a60a8a80c266e4dddb1d830534fa0b89d76 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/penno_short_loop/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.45,0.3,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Day/penno_short_loop/spot_outdoor_day_penno_short_loop_pose_gt.h5 b/processed/Quadruped/Outdoor_Day/penno_short_loop/spot_outdoor_day_penno_short_loop_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa18fbe2f2008e2d0858533ba4912aec5964a741 --- /dev/null +++ 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b/processed/Quadruped/Outdoor_Day/rocky_steps/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..835234a2d6f4ecbeb4fbda14aa3845e93109372f --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/rocky_steps/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: rocky_steps +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/rocky_steps/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/rocky_steps/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..043fcd1fa0973f674fb4f17749de32cf1937ad7c --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/rocky_steps/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.9,0.1,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Day/rocky_steps/spot_outdoor_day_rocky_steps_pose_gt.h5 b/processed/Quadruped/Outdoor_Day/rocky_steps/spot_outdoor_day_rocky_steps_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b34978a649340ae761a24d3dbbfc1bb2e9421c7e --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/rocky_steps/spot_outdoor_day_rocky_steps_pose_gt.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:849b890a5f84acda18fddbe3a7bf7dd1bcfb276f1234e6a1d32c87a6dcc4746f +size 425712 diff --git a/processed/Quadruped/Outdoor_Day/send_file.sh b/processed/Quadruped/Outdoor_Day/send_file.sh new file mode 100644 index 0000000000000000000000000000000000000000..aa6bb2f21f51b786a0ee7f015fb2d24df6f228c9 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/send_file.sh @@ -0,0 +1 @@ +rsync -avz --progress ucity_small_loop 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+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/skatepark_1/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/skatepark_1/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..043fcd1fa0973f674fb4f17749de32cf1937ad7c --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/skatepark_1/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.9,0.1,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Day/skatepark_1/spot_outdoor_day_skatepark_1_pose_gt.h5 b/processed/Quadruped/Outdoor_Day/skatepark_1/spot_outdoor_day_skatepark_1_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dad6b5a7e956520657285c1821616b17fcad75af --- /dev/null +++ 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b/processed/Quadruped/Outdoor_Day/skatepark_2/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b8edfede5c8ed4d0386d90288fbe6d9e5fc82607 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/skatepark_2/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: skatepark_2 +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/skatepark_2/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/skatepark_2/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..043fcd1fa0973f674fb4f17749de32cf1937ad7c --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/skatepark_2/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.9,0.1,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + 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a/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/m3ed_dataset.yaml b/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..222fb14c88eb4aa0330c7c1f52b567e19a48e1ff --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: srt_green_loop +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..167f6a23af7251ecaba49446573371404785a62c --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_green_loop/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.4,0.3,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + 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b/processed/Quadruped/Outdoor_Day/srt_under_bridge_1/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0937ddbe92db504ea45d11eca156f81b5acf079 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_1/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: srt_under_bridge_1 +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/srt_under_bridge_1/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/srt_under_bridge_1/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e8d7f015c984d01095d744a4874f403828c44b7c --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_1/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.9,0.1,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 5 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + 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/dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/ps_labels_final/tracks_world_veh_static_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:926248e52d1fa532c317e37da24ed652ae64110f8219cb5e061668bd3091f048 +size 5 diff --git a/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/ps_labels_final/tracks_world_veh_static_refined_prop_boxes.pkl b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/ps_labels_final/tracks_world_veh_static_refined_prop_boxes.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3f9d4258b514f8a1a59e9fb4278cb447e8262d90 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/ps_labels_final/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:926248e52d1fa532c317e37da24ed652ae64110f8219cb5e061668bd3091f048 +size 5 diff --git a/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/m3ed_dataset.yaml b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d25bb4a58296af8a8a4aa6bb679d082f69ce010f --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Day +SEQUENCE: srt_under_bridge_2 +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06794d4abec4dbf399d9b2ef34184120fb89e259 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.9,0.3,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/spot_outdoor_day_srt_under_bridge_2_pose_gt.h5 b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/spot_outdoor_day_srt_under_bridge_2_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e95695c4a699d974da6f893f4366ac4282eada8 --- /dev/null +++ b/processed/Quadruped/Outdoor_Day/srt_under_bridge_2/spot_outdoor_day_srt_under_bridge_2_pose_gt.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:927b2ec087be4b70976fb29d1be468d6356ed49a6ec4242668efce5ff6ebb138 +size 501328 diff --git a/processed/Quadruped/Outdoor_Night/dl.sh b/processed/Quadruped/Outdoor_Night/dl.sh new file mode 100644 index 0000000000000000000000000000000000000000..4547ef54a621e0239c41c55485ad162a8b67425d --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/dl.sh @@ -0,0 +1,13 @@ +#!/bin/bash + + + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/spot_outdoor_night_penno_plaza_lights/spot_outdoor_night_penno_plaza_lights_data.h5 + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/spot_outdoor_night_penno_short_loop/spot_outdoor_night_penno_short_loop_data.h5 + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_night_high_beams/falcon_outdoor_night_high_beams_data.h5 + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_night_penno_parking_1/falcon_outdoor_night_penno_parking_1_data.h5 + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_night_penno_parking_2/falcon_outdoor_night_penno_parking_2_data.h5 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/cut_data.h5 b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b440814d6749372ad08ffbcc7f54b79e799a11fc --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a350e7ba286bc5c87515d1b04cdd29979b863e799865e31bb7f7f4d62fe10607 +size 2162099909 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/final_ps_dict.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/final_ps_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6a742ec621faf857a0cc082d875e2b2dc03785b4 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/final_ps_dict.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e4a32afad044bb2cf56fc6e5f8c18875a908115243af1b6c15a808651feb377 +size 146861 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/initial_pseudo_labels.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/initial_pseudo_labels.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c4cd888a775eb0740a2ccf715cacfc49a5c3df1c --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/initial_pseudo_labels.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:785f94ff2ecf148553a1cd889081d5cb1e22b042c84464b6f289b951dbfd8f6c +size 264915 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7e6ab7750501bbb240dcdd06f07bfdd73f44114e --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce7ab1aca0a43408f4e3cb150e9e899e7908e92d65e71adf1c60d9d595b6f134 +size 412322 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_all_refined.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_all_refined.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7c39f843096530b6105e092380337ad0768676f9 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_all_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e36e0af657c75251002985ce590f65a7da6ef018284a2938cff0aef3418348db +size 777823 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_refined.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_refined.pkl new file mode 100644 index 0000000000000000000000000000000000000000..05feefa01e2549c90e6577fedd072cb1416ed523 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_ped_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80aa93264975f490b42b1cbe67768a937011ba4d12695560244968fa56101935 +size 5175 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all.pkl new file mode 100644 index 0000000000000000000000000000000000000000..03171071ce2620daa783085918d0e9f56950e2e5 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:211ec7319a748dbfc23f3e7b173fa1157ea09571fe7c8ebf9c1735d6f165372a +size 419118 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all_refined.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all_refined.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e02a9046fa3b1dfc0a1632559099cc2a4dfefb4b --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_all_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aecdca74979993642856b66bdf36ed01bd1274834fab95eb1f36236dd437a7dd +size 41628 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static.pkl new file mode 100644 index 0000000000000000000000000000000000000000..49d288cb12736728b8b57301b1cbb2354cae0dd2 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d70e5342e26a6a590ece1e5b4ff9e69cfe73726ac9f73df1de0ae9b857a73692 +size 436411 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e49203e8cbd1e6746cbca881faec7684f682f1b6 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1788151108b021e637fe3e720c1bc3a6daad0b9b441b3fd5d00502cbe4b07cd9 +size 52863 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b47af7b7b8468e8ee31c511ddfcc267687e4dc97 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f5264da71941b08789d7a929c533f48f7af2ddb51fb1ca4f1a4cca258aa7cbc +size 54719 diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/m3ed_dataset.yaml b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..37011b90890b103d6dd00c2add64ad64e367584c --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Night +SEQUENCE: penno_plaza_lights +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb176ddecad848fb4271a51f8e2ba55fd98d382 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.6,0.3,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Night/penno_plaza_lights/spot_outdoor_night_penno_plaza_lights_pose_gt.h5 b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/spot_outdoor_night_penno_plaza_lights_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cee4acefb1d38c7557bd0996b8b61008326beccf --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_plaza_lights/spot_outdoor_night_penno_plaza_lights_pose_gt.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31aa0f31bf1c7f283894b72a6391aa23e385b07b8498654ce92811a38c8639ec +size 213552 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/cut_data.h5 b/processed/Quadruped/Outdoor_Night/penno_short_loop/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26249440ca1ff2cd5d7fb4f9f69d2361c1004745 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0033d61fc6457d5f9c25527aabe8f2ef66c4c1504ee4e15209f32bc6cfa61538 +size 3141044771 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/final_ps_dict.pkl b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/final_ps_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..601bb9cd47a2371d606ea2f9df7124e7d6f16078 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/final_ps_dict.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90d30639a5b0b3ad5fc439ea68033d41f55821fba75ef24a67f277b175437b7b +size 311186 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/initial_pseudo_labels.pkl b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/initial_pseudo_labels.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8ad7554e09407e1d83fe50286ff392f64ab0ccfb --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/initial_pseudo_labels.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f18c59479613a66fda748079e05fbdee72c324ef18d44cb760152174b0666f8b +size 446543 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/modified_frames.txt 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b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/tracks_world_veh_static_refined.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c05b7576bb47a546b9f136004551a2f8680ea396 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/tracks_world_veh_static_refined.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16c4488ac3b1242c32fdabbdf4a745fd138cc3bc56f0ee43a1075dbf7b6d93c9 +size 218192 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b2f07f0dbfcedd6a31baa166d47f11d10be14038 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b248e1e168c2f029032f2b8ed26b67c8dfaeec88a7df01912db9ccc47fe25c4 +size 308804 diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/m3ed_dataset.yaml b/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eec85c53ed9d946b09f2558d25632064b312b313 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Spot +TERRIAN: Outdoor_Night +SEQUENCE: penno_short_loop +GET_ITEM_LIST: ["points"] +SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground +POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4] +MAX_SWEEPS: 4 +FOV_POINTS_ONLY: True + +DATA_SPLIT: { + 'train': train, + 'test': val +} +SAMPLED_INTERVAL: { + 'train': 1, + 'test': 1 +} + +POINT_FEATURE_ENCODING: { + encoding_type: absolute_coordinates_encoding, + used_feature_list: ['x', 'y', 'z', 'timestamp'], + src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'], +} +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] +CLASS_MAPPING: {'car': 'Vehicle', + 'truck': 'Vehicle', + 'bus': 'Vehicle', + 'Vehicle': 'Vehicle', + 'motorcycle': 'Cyclist', + 'bicycle': 'Cyclist', + 'Cyclist': 'Cyclist', + 'pedestrian': 'Pedestrian', + 'Pedestrian': 'Pedestrian'} +DATA_AUGMENTOR: + DISABLE_AUG_LIST: ['placeholder'] + AUG_CONFIG_LIST: + # - NAME: gt_sampling + # DB_INFO_PATH: + # - m3ed_dbinfos_train_car.pkl + # PREPARE: { + # filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'], + # } + + # SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15'] + # NUM_POINT_FEATURES: 4 + # DATABASE_WITH_FAKELIDAR: False + # REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0] + # LIMIT_WHOLE_SCENE: True + - NAME: random_world_flip + ALONG_AXIS_LIST: [ 'x', 'y' ] + + - NAME: random_world_rotation + WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ] + + - NAME: random_world_scaling + WORLD_SCALE_RANGE: [ 0.95, 1.05 ] + +DATA_PROCESSOR: + - NAME: mask_points_and_boxes_outside_range + REMOVE_OUTSIDE_BOXES: True + + # - NAME: gene_nvs + # GENE_NUM: 4 + # ENABLED: { + # 'train': True, + # 'test': False + # } + + - NAME: shuffle_points + SHUFFLE_ENABLED: { + 'train': True, + 'test': False + } + + - NAME: transform_points_to_voxels + VOXEL_SIZE: [0.1, 0.1, 0.15] + MAX_POINTS_PER_VOXEL: 5 + MAX_NUMBER_OF_VOXELS: { + 'train': 80000, + 'test': 90000 + } diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/ps_config.yaml b/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eefcb0b6b6105fff03d7afc025047ab80aa9a73d --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/refine_files/ps_config.yaml @@ -0,0 +1,75 @@ +SAVE_DIR: ../ps_labels +DATA_CONFIG_PATH: ./m3ed_dataset.yaml + +PS_SCORE_TH: # veh,ped,cyc + POS_TH: [0.6,0.4,0.5] + NEG_TH: [0.3,0.1,0.3] + +ENSEMBLE_KBF: + DISCARD: [3, 3, 3] + RADIUS: [1.5, 0.3, 0.2] + NMS: [0.1, 0.3, 0.1] + +TRACKING: + VEH_ALL: + RUNNING: + SCORE_TH: 0.2 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 1.0 + REDUNDANCY: + SCORE_TH: 0.3 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.0 + VEH_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + PEDESTRIAN: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 2 + MIN_HITS_TO_BIRTH: 2 + ASSO: giou + ASSO_TH: 0.8 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 3 + ASSO_TH: 0.2 + PED_STATIC: + RUNNING: + SCORE_TH: 0.1 + MAX_AGE_SINCE_UPDATE: 3 + MIN_HITS_TO_BIRTH: 2 + ASSO: iou_2d + ASSO_TH: 0.5 + REDUNDANCY: + SCORE_TH: 0.1 + MAX_REDUNDANCY_AGE: 2 + ASSO_TH: 0.5 + +TEMPORAL_REFINEMENT: + TRACK_FILTERING: + MIN_NUM_STATIC_VEH_TRACKS: 6 + MIN_NUM_PED_TRACKS: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3 + MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2 + USE_STATIC_PED_TRACKS: true + ROLLING_KBF: + MIN_STATIC_SCORE: 0.8 + ROLLING_KDE_WINDOW: 15 + PROPAGATE_BOXES: + MIN_STATIC_TRACKS: 5 + N_EXTRA_FRAMES: 5 + DEGRADE_FACTOR: 0.99 + MIN_SCORE_CLIP: 0.3 + diff --git a/processed/Quadruped/Outdoor_Night/penno_short_loop/spot_outdoor_night_penno_short_loop_pose_gt.h5 b/processed/Quadruped/Outdoor_Night/penno_short_loop/spot_outdoor_night_penno_short_loop_pose_gt.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bda97ee1d1a0ea5c04d89aeb077e5d6b4a7ac764 --- /dev/null +++ b/processed/Quadruped/Outdoor_Night/penno_short_loop/spot_outdoor_night_penno_short_loop_pose_gt.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e0839e5b230e90a7bf91ea07f48ed4492303cad270c097279adbb92cf171d7 +size 367504