def main(version: str,
data_root: str,
split_name: str,
output_dir: str,
config_name: str = 'predict_2020_icra.json') -> None:
"""
Performs inference for all of the baseline models defined in the physics model module.
:param version: nuScenes data set version.
:param data_root: Directory where the NuScenes data is stored.
:param split_name: nuScenes data split name, e.g. train, val, mini_train, etc.
:param output_dir: Directory where predictions should be stored.
:param config_name: Name of config file.
"""
nusc = NuScenes(version=version, dataroot=data_root)
helper = PredictHelper(nusc)
dataset = get_prediction_challenge_split(split_name)
config = load_prediction_config(helper, config_name)
oracle = PhysicsOracle(config.seconds, helper)
cv_heading = ConstantVelocityHeading(config.seconds, helper)
cv_preds = []
oracle_preds = []
for token in dataset:
cv_preds.append(cv_heading(token).serialize())
oracle_preds.append(oracle(token).serialize())
json.dump(cv_preds, open(os.path.join(output_dir, "cv_preds.json"), "w"))
json.dump(oracle_preds,
open(os.path.join(output_dir, "oracle_preds.json"), "w"))
def compute_metrics(self,
config_file='predict_2020_icra.json',
result_file='metrics.json',
agent_frame=True):
config = load_prediction_config(self.helper, config_file)
predictions = json.load(
open(os.path.join(self.output_dir, 'mtp_preds.json'), "r"))
n_preds = len(predictions)
result_output_path = os.path.join(self.output_dir, result_file)
containers = {
metric.name: np.zeros((n_preds, metric.shape))
for metric in config.metrics
}
for i, prediction_str in enumerate(predictions):
prediction = Prediction.deserialize(prediction_str)
ground_truth = exp.helper.get_future_for_agent(
prediction.instance,
prediction.sample,
config.seconds,
in_agent_frame=agent_frame)
for metric in config.metrics:
containers[metric.name][i] = metric(ground_truth, prediction)
aggregations: Dict[str, Dict[str, List[float]]] = defaultdict(dict)
for metric in config.metrics:
for agg in metric.aggregators:
aggregations[metric.name][agg.name] = agg(
containers[metric.name])
print(aggregations)
json.dump(aggregations, open(result_output_path, "w"), indent=2)
def main(version: str, data_root: str, submission_path: str,
config_name: str = 'predict_2020_icra.json') -> None:
"""
Computes metrics for a submission stored in submission_path with a given submission_name with the metrics
specified by the config_name.
:param version: nuScenes data set version.
:param data_root: Directory storing NuScenes data.
:param submission_path: Directory storing submission.
:param config_name: Name of config file.
"""
predictions = json.load(open(submission_path, "r"))
nusc = NuScenes(version=version, dataroot=data_root)
helper = PredictHelper(nusc)
config = load_prediction_config(helper, config_name)
results = compute_metrics(predictions, helper, config)
json.dump(results, open(submission_path.replace('.json', '_metrics.json'), "w"), indent=2)
def __init__(self,
nusc,
helper,
maps_dir,
save_maps_dataset=False,
config_name='predict_2020_icra.json',
history=1,
num_examples=None,
in_agent_frame=True):
self.nusc = nusc
self.helper = helper
#initialize the data set
if maps_dir == 'maps_train':
dataset_version = "train"
elif maps_dir == 'maps':
dataset_version = "train_val"
elif maps_dir == 'maps_val':
dataset_version = "val"
#initialize maps directory where everything will be saved
self.maps_dir = os.path.join(os.getcwd(), maps_dir)
self.data_set = get_prediction_challenge_split(
dataset_version, dataroot=self.nusc.dataroot)
if num_examples:
self.data_set = self.data_set[:num_examples]
#initialize rasterizers for map generation
self.static_layer_rasterizer = StaticLayerRasterizer(self.helper)
self.agent_rasterizer = AgentBoxesWithFadedHistory(
self.helper, seconds_of_history=history)
self.mtp_input_representation = InputRepresentation(
self.static_layer_rasterizer, self.agent_rasterizer, Rasterizer())
self.in_agent_frame = in_agent_frame
self.config = load_prediction_config(self.helper, config_name)
self.save_maps_dataset = save_maps_dataset
if self.save_maps_dataset:
self.save_maps()
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
def main(version: str, data_root: str, split_name: str, output_dir: str, submission_name: str, config_name: str) \
-> None:
"""
Makes predictions for a submission to the nuScenes prediction challenge.
:param version: NuScenes version.
:param data_root: Directory storing NuScenes data.
:param split_name: Data split to run inference on.
:param output_dir: Directory to store the output file.
:param submission_name: Name of the submission to use for the results file.
:param config_name: Name of config file to use.
"""
nusc = NuScenes(version=version, dataroot=data_root)
helper = PredictHelper(nusc)
dataset = get_prediction_challenge_split(split_name)
config = load_prediction_config(helper, config_name)
predictions = do_inference_for_submission(helper, config, dataset)
predictions = [prediction.serialize() for prediction in predictions]
json.dump(predictions, open(os.path.join(output_dir, f"{submission_name}_inference.json"), "w"))
def main(nusc: NuScenes,
submission_path: str,
config_name: str = 'predict_2020_icra.json') -> None:
"""
Computes metrics for a submission stored in submission_path with a given submission_name with the metrics
specified by the config_name.
:param nusc: nuScenes data set object
:param submission_path: Directory storing submission.
:param config_name: Name of config file.
"""
predictions = json.load(open(submission_path, "r"))
helper = PredictHelper(nusc)
config = load_prediction_config(helper, config_name)
results, resultsfull = compute_metrics(predictions, helper, config)
json.dump(results,
open(submission_path.replace('.json', '_metrics.json'), "w"),
indent=2)
print('dumping full results...')
np.savez(submission_path.replace('.json', '_metricsfull'), **resultsfull)
print('Results from', submission_path)
print(json.dumps(results, indent=2))
def main(version: str, data_root: str,
split_name: str, output_dir: str, config_name: str = 'predict_2020_icra.json') -> None:
"""
Performs inference for all of the baseline models defined in the physics model module.
:param version: nuScenes data set version.
:param data_root: Directory where the NuScenes data is stored.
:param split_name: nuScenes data split name, e.g. train, val, mini_train, etc.
:param output_dir: Directory where predictions should be stored.
:param config_name: Name of config file.
"""
print('timing point A')
nusc = NuScenes(version=version, dataroot=data_root)
print('timing point B')
helper = PredictHelper(nusc)
print('timing point C')
dataset = get_prediction_challenge_split(split_name, dataroot=data_root)
print('timing point D')
config = load_prediction_config(helper, config_name)
print('timing point E')
# rasterization
static_layer_rasterizer = StaticLayerRasterizer(helper)
agent_rasterizer = AgentBoxesWithFadedHistory(helper, seconds_of_history=3)
mtp_input_representation = InputRepresentation(static_layer_rasterizer, agent_rasterizer, Rasterizer())
# loop through training tasks
for token in dataset[40:60:2]:
fig, axes = plt.subplots(1, 3, figsize=(18, 9))
print(token)
instance_token, sample_token = token.split('_')
plot_cam_view(axes[1], nusc, token)
plot_cam_view(axes[2], nusc, token, cam_name='CAM_FRONT_RIGHT')
axes[0].imshow(mtp_input_representation.make_input_representation(instance_token, sample_token))
plt.show()
