diff --git a/processed/Drone/Outdoor_Day/dl.sh b/processed/Drone/Outdoor_Day/dl.sh new file mode 100644 index 0000000000000000000000000000000000000000..d0b18a2822434c882e67d438017e6515a9aa4f66 --- /dev/null +++ b/processed/Drone/Outdoor_Day/dl.sh @@ -0,0 +1,6 @@ +#!/bin/bash + + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_day_penno_plaza/falcon_outdoor_day_penno_plaza_data.h5 + +wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_day_penno_trees/falcon_outdoor_day_penno_trees_data.h5 diff --git a/processed/Drone/Outdoor_Day/fast_flight_2/cut_data.h5 b/processed/Drone/Outdoor_Day/fast_flight_2/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9ed8a92e360cdcf85079531ab0e3918bdbcddc7 --- /dev/null +++ b/processed/Drone/Outdoor_Day/fast_flight_2/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a024218bc148e381ee1df63db2b90d674f8e65d3e4bb0197435c4577b8c36d6a +size 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0000000000000000000000000000000000000000..b8bccf36538eee0c349390836b80593e96bff83b --- /dev/null +++ b/processed/Drone/Outdoor_Day/fast_flight_2/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Day +SEQUENCE: fast_flight_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/Drone/Outdoor_Day/fast_flight_2/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/fast_flight_2/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dba8d6fe3abdf0066dfeead6551a62269a2f3cf4 --- /dev/null +++ b/processed/Drone/Outdoor_Day/fast_flight_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: [0.5,0.3,0.5] + 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 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index 0000000000000000000000000000000000000000..ded04da2e428850b29703b72c561c77eadb0e59c --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_cars/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Day +SEQUENCE: penno_cars +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/Drone/Outdoor_Day/penno_cars/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/penno_cars/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a201b10a9e83232f99968e610b528d4227fb430 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_cars/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: [0.3,0.3,0.5] + 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 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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/Drone/Outdoor_Day/penno_parking_1/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/penno_parking_1/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52a59a60a8a80c266e4dddb1d830534fa0b89d76 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_parking_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: [0.45,0.3,0.5] + 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/Drone/Outdoor_Day/penno_parking_2/cut_data.h5 b/processed/Drone/Outdoor_Day/penno_parking_2/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5fa6e29af51d898ad172c708c1ae98b285a58c9 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_parking_2/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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a/processed/Drone/Outdoor_Day/penno_parking_2/refine_files/m3ed_dataset.yaml b/processed/Drone/Outdoor_Day/penno_parking_2/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a76e9cf366280e79e4e9748ce47611032620ffe --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_parking_2/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Day +SEQUENCE: penno_parking_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/Drone/Outdoor_Day/penno_parking_2/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/penno_parking_2/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52a59a60a8a80c266e4dddb1d830534fa0b89d76 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_parking_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: [0.45,0.3,0.5] + 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: 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0000000000000000000000000000000000000000..dcd8306d65413f9ed22ab2c8775f43bd1cf5beff --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_plaza/ps_labels_final/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9855ae68c93a49ad5157bdfe5176e2e17d5a696c1b80a71ef6cf3a1a850e9ece +size 211151 diff --git a/processed/Drone/Outdoor_Day/penno_plaza/refine_files/m3ed_dataset.yaml b/processed/Drone/Outdoor_Day/penno_plaza/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0036b1fecc62bb70ea1ef1aea21efb6fe6bf8bf2 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_plaza/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Day +SEQUENCE: penno_plaza +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/Drone/Outdoor_Day/penno_plaza/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/penno_plaza/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52a59a60a8a80c266e4dddb1d830534fa0b89d76 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_plaza/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/Drone/Outdoor_Day/penno_trees/cut_data.h5 b/processed/Drone/Outdoor_Day/penno_trees/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f0d286d14acd2aaf94738fe4fcf0bddbedd6026 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_trees/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/processed/Drone/Outdoor_Day/penno_trees/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Day +SEQUENCE: penno_trees +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/Drone/Outdoor_Day/penno_trees/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Day/penno_trees/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52a59a60a8a80c266e4dddb1d830534fa0b89d76 --- /dev/null +++ b/processed/Drone/Outdoor_Day/penno_trees/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/Drone/Outdoor_Night/high_beams/cut_data.h5 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b/processed/Drone/Outdoor_Night/high_beams/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl new file mode 100644 index 0000000000000000000000000000000000000000..235193ee9f067bafeec6c565c9425fe6f37e0c0c --- /dev/null +++ b/processed/Drone/Outdoor_Night/high_beams/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec3954ae700418bdcdd10dae906b69c0819b4d968853049f7e8e101dbaedd23 +size 221953 diff --git a/processed/Drone/Outdoor_Night/high_beams/refine_files/m3ed_dataset.yaml b/processed/Drone/Outdoor_Night/high_beams/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..116c678aa7d09081355d639fefc43cbe7e7f8096 --- /dev/null +++ b/processed/Drone/Outdoor_Night/high_beams/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Night +SEQUENCE: high_beams +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/Drone/Outdoor_Night/high_beams/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Night/high_beams/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dba8d6fe3abdf0066dfeead6551a62269a2f3cf4 --- /dev/null +++ b/processed/Drone/Outdoor_Night/high_beams/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: [0.5,0.3,0.5] + 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/Drone/Outdoor_Night/penno_parking_1/cut_data.h5 b/processed/Drone/Outdoor_Night/penno_parking_1/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65761d06a345c4a6e7cfcaaf5a662efaeb9b0a02 --- /dev/null +++ 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sha256:a806417beb49565fa7586a3f4adbf1b566d871b1ca77413ca2462fb7aa4a59c0 +size 167862 diff --git a/processed/Drone/Outdoor_Night/penno_parking_1/refine_files/m3ed_dataset.yaml b/processed/Drone/Outdoor_Night/penno_parking_1/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd87865da60bf97f66ff04dfa82d76ee649ffc21 --- /dev/null +++ b/processed/Drone/Outdoor_Night/penno_parking_1/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Night +SEQUENCE: penno_parking_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/Drone/Outdoor_Night/penno_parking_1/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Night/penno_parking_1/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eefcb0b6b6105fff03d7afc025047ab80aa9a73d --- /dev/null +++ b/processed/Drone/Outdoor_Night/penno_parking_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: [0.6,0.4,0.5] + 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/Drone/Outdoor_Night/penno_parking_2/cut_data.h5 b/processed/Drone/Outdoor_Night/penno_parking_2/cut_data.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7a73cdb6b4fabd8e39713f3200012be5ecb52e3 --- /dev/null +++ b/processed/Drone/Outdoor_Night/penno_parking_2/cut_data.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f75b96a1cca13095bcbfddd43c656897731c25a27c49e31d832c4c9dad17d32 +size 2109654164 diff --git a/processed/Drone/Outdoor_Night/penno_parking_2/falcon_outdoor_night_penno_parking_2_pose_gt.h5 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sha256:e14b942a6a0506f8ce5494d71ea368f3574a8758ef4edc1aa0e3d0d65deaabf8 +size 21750 diff --git a/processed/Drone/Outdoor_Night/penno_parking_2/refine_files/m3ed_dataset.yaml b/processed/Drone/Outdoor_Night/penno_parking_2/refine_files/m3ed_dataset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b5275717df4acfb781fc0de9408010aa18ddd3e5 --- /dev/null +++ b/processed/Drone/Outdoor_Night/penno_parking_2/refine_files/m3ed_dataset.yaml @@ -0,0 +1,83 @@ +DATASET: 'OFFM3EDDataset' +DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED' +PLATFORM: Falcon +TERRIAN: Outdoor_Night +SEQUENCE: penno_parking_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/Drone/Outdoor_Night/penno_parking_2/refine_files/ps_config.yaml b/processed/Drone/Outdoor_Night/penno_parking_2/refine_files/ps_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eefcb0b6b6105fff03d7afc025047ab80aa9a73d --- /dev/null +++ b/processed/Drone/Outdoor_Night/penno_parking_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: [0.6,0.4,0.5] + 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 +