def load_gt(nusc: NuScenes,
eval_split: str,
box_cls,
verbose: bool = False) -> EvalBoxes:
"""
Loads ground truth boxes from DB.
:param nusc: A NuScenes instance.
:param eval_split: The evaluation split for which we load GT boxes.
:param box_cls: Type of box to load, e.g. DetectionBox or TrackingBox.
:param verbose: Whether to print messages to stdout.
:return: The GT boxes.
"""
# Init.
if box_cls == DetectionBox:
attribute_map = {a['token']: a['name'] for a in nusc.attribute}
if verbose:
print('Loading annotations for {} split from nuScenes version: {}'.
format(eval_split, nusc.version))
# Read out all sample_tokens in DB.
sample_tokens_all = [s['token'] for s in nusc.sample]
assert len(sample_tokens_all) > 0, "Error: Database has no samples!"
# Only keep samples from this split.
splits = create_splits_scenes()
# Check compatibility of split with nusc_version.
version = nusc.version
if eval_split in {'train', 'val', 'train_detect', 'train_track'}:
assert version.endswith('trainval'), \
'Error: Requested split {} which is not compatible with NuScenes version {}'.format(eval_split, version)
elif eval_split in {'mini_train', 'mini_val'}:
assert version.endswith('mini'), \
'Error: Requested split {} which is not compatible with NuScenes version {}'.format(eval_split, version)
elif eval_split == 'test':
assert version.endswith('test'), \
'Error: Requested split {} which is not compatible with NuScenes version {}'.format(eval_split, version)
else:
raise ValueError(
'Error: Requested split {} which this function cannot map to the correct NuScenes version.'
.format(eval_split))
if eval_split == 'test':
# Check that you aren't trying to cheat :).
assert len(nusc.sample_annotation) > 0, \
'Error: You are trying to evaluate on the test set but you do not have the annotations!'
sample_tokens = []
for sample_token in sample_tokens_all:
scene_token = nusc.get('sample', sample_token)['scene_token']
scene_record = nusc.get('scene', scene_token)
if scene_record['name'] in splits[eval_split]:
sample_tokens.append(sample_token)
all_annotations = EvalBoxes()
# Load annotations and filter predictions and annotations.
tracking_id_set = set()
for sample_token in tqdm.tqdm(sample_tokens, leave=verbose):
sample = nusc.get('sample', sample_token)
sample_annotation_tokens = sample['anns']
sample_boxes = []
for sample_annotation_token in sample_annotation_tokens:
sample_annotation = nusc.get('sample_annotation',
sample_annotation_token)
if box_cls == DetectionBox:
# Get label name in detection task and filter unused labels.
detection_name = category_to_detection_name(
sample_annotation['category_name'])
if detection_name is None:
continue
# Get attribute_name.
attr_tokens = sample_annotation['attribute_tokens']
attr_count = len(attr_tokens)
if attr_count == 0:
attribute_name = ''
elif attr_count == 1:
attribute_name = attribute_map[attr_tokens[0]]
else:
raise Exception(
'Error: GT annotations must not have more than one attribute!'
)
sample_boxes.append(
box_cls(
sample_token=sample_token,
translation=sample_annotation['translation'],
size=sample_annotation['size'],
rotation=sample_annotation['rotation'],
velocity=nusc.box_velocity(
sample_annotation['token'])[:2],
num_pts=sample_annotation['num_lidar_pts'] +
sample_annotation['num_radar_pts'],
detection_name=detection_name,
detection_score=-1.0, # GT samples do not have a score.
attribute_name=attribute_name))
elif box_cls == TrackingBox:
# Use nuScenes token as tracking id.
tracking_id = sample_annotation['instance_token']
tracking_id_set.add(tracking_id)
# Get label name in detection task and filter unused labels.
tracking_name = category_to_tracking_name(
sample_annotation['category_name'])
if tracking_name is None:
continue
sample_boxes.append(
box_cls(
sample_token=sample_token,
translation=sample_annotation['translation'],
size=sample_annotation['size'],
rotation=sample_annotation['rotation'],
velocity=nusc.box_velocity(
sample_annotation['token'])[:2],
num_pts=sample_annotation['num_lidar_pts'] +
sample_annotation['num_radar_pts'],
tracking_id=tracking_id,
tracking_name=tracking_name,
tracking_score=-1.0 # GT samples do not have a score.
))
else:
raise NotImplementedError('Error: Invalid box_cls %s!' %
box_cls)
all_annotations.add_boxes(sample_token, sample_boxes)
if verbose:
print("Loaded ground truth annotations for {} samples.".format(
len(all_annotations.sample_tokens)))
return all_annotations
def _mock_submission(nusc: NuScenes, split: str) -> Dict[str, dict]:
"""
Creates "reasonable" submission (results and metadata) by looping through the mini-val set, adding 1 GT
prediction per sample. Predictions will be permuted randomly along all axes.
"""
def random_class(category_name: str) -> str:
# Alter 10% of the valid labels.
class_names = sorted(DETECTION_NAMES)
tmp = category_to_detection_name(category_name)
if tmp is not None and np.random.rand() < .9:
return tmp
else:
return class_names[np.random.randint(0, len(class_names) - 1)]
def random_attr(name: str) -> str:
"""
This is the most straight-forward way to generate a random attribute.
Not currently used b/c we want the test fixture to be back-wards compatible.
"""
# Get relevant attributes.
rel_attributes = detection_name_to_rel_attributes(name)
if len(rel_attributes) == 0:
# Empty string for classes without attributes.
return ''
else:
# Pick a random attribute otherwise.
return rel_attributes[np.random.randint(
0, len(rel_attributes))]
mock_meta = {
'use_camera': False,
'use_lidar': True,
'use_radar': False,
'use_map': False,
'use_external': False,
}
mock_results = {}
splits = create_splits_scenes()
val_samples = []
for sample in nusc.sample:
if nusc.get('scene',
sample['scene_token'])['name'] in splits[split]:
val_samples.append(sample)
for sample in tqdm(val_samples, leave=False):
sample_res = []
for ann_token in sample['anns']:
ann = nusc.get('sample_annotation', ann_token)
detection_name = random_class(ann['category_name'])
sample_res.append({
'sample_token':
sample['token'],
'translation':
list(
np.array(ann['translation']) + 5 *
(np.random.rand(3) - 0.5)),
'size':
list(
np.array(ann['size']) * 2 * (np.random.rand(3) + 0.5)),
'rotation':
list(
np.array(ann['rotation']) +
((np.random.rand(4) - 0.5) * .1)),
'velocity':
list(
nusc.box_velocity(ann_token)[:2] *
(np.random.rand(3)[:2] + 0.5)),
'detection_name':
detection_name,
'detection_score':
random.random(),
'attribute_name':
random_attr(detection_name)
})
mock_results[sample['token']] = sample_res
mock_submission = {'meta': mock_meta, 'results': mock_results}
return mock_submission
def _mock_submission(nusc: NuScenes,
split: str,
add_errors: bool = False) -> Dict[str, dict]:
"""
Creates "reasonable" submission (results and metadata) by looping through the mini-val set, adding 1 GT
prediction per sample. Predictions will be permuted randomly along all axes.
:param nusc: NuScenes instance.
:param split: Dataset split to use.
:param add_errors: Whether to use GT or add errors to it.
"""
def random_class(category_name: str, _add_errors: bool = False) -> Optional[str]:
# Alter 10% of the valid labels.
class_names = sorted(TRACKING_NAMES)
tmp = category_to_tracking_name(category_name)
if tmp is None:
return None
else:
if not _add_errors or np.random.rand() < .9:
return tmp
else:
return class_names[np.random.randint(0, len(class_names) - 1)]
def random_id(instance_token: str, _add_errors: bool = False) -> str:
# Alter 10% of the valid ids to be a random string, which hopefully corresponds to a new track.
if not _add_errors or np.random.rand() < .9:
_tracking_id = instance_token + '_pred'
else:
_tracking_id = str(np.random.randint(0, sys.maxsize))
return _tracking_id
mock_meta = {
'use_camera': False,
'use_lidar': True,
'use_radar': False,
'use_map': False,
'use_external': False,
}
mock_results = {}
# Get all samples in the current evaluation split.
splits = create_splits_scenes()
val_samples = []
for sample in nusc.sample:
if nusc.get('scene', sample['scene_token'])['name'] in splits[split]:
val_samples.append(sample)
# Prepare results.
instance_to_score = dict()
for sample in tqdm(val_samples, leave=False):
sample_res = []
for ann_token in sample['anns']:
ann = nusc.get('sample_annotation', ann_token)
translation = np.array(ann['translation'])
size = np.array(ann['size'])
rotation = np.array(ann['rotation'])
velocity = nusc.box_velocity(ann_token)[:2]
tracking_id = random_id(ann['instance_token'], _add_errors=add_errors)
tracking_name = random_class(ann['category_name'], _add_errors=add_errors)
# Skip annotations for classes not part of the detection challenge.
if tracking_name is None:
continue
# Skip annotations with 0 lidar/radar points.
num_pts = ann['num_lidar_pts'] + ann['num_radar_pts']
if num_pts == 0:
continue
# If we randomly assign a score in [0, 1] to each box and later average over the boxes in the track,
# the average score will be around 0.5 and we will have 0 predictions above that.
# Therefore we assign the same scores to each box in a track.
if ann['instance_token'] not in instance_to_score:
instance_to_score[ann['instance_token']] = random.random()
tracking_score = instance_to_score[ann['instance_token']]
tracking_score = np.clip(tracking_score + random.random() * 0.3, 0, 1)
if add_errors:
translation += 4 * (np.random.rand(3) - 0.5)
size *= (np.random.rand(3) + 0.5)
rotation += (np.random.rand(4) - 0.5) * .1
velocity *= np.random.rand(3)[:2] + 0.5
sample_res.append({
'sample_token': sample['token'],
'translation': list(translation),
'size': list(size),
'rotation': list(rotation),
'velocity': list(velocity),
'tracking_id': tracking_id,
'tracking_name': tracking_name,
'tracking_score': tracking_score
})
mock_results[sample['token']] = sample_res
mock_submission = {
'meta': mock_meta,
'results': mock_results
}
return mock_submission
def load_merge_from_pkl(nusc: NuScenes,
pkl_path: str,
box_cls,
verbose: bool = False) -> EvalBoxes:
# Init.
if box_cls == DetectionBox:
attribute_map = {a['token']: a['name'] for a in nusc.attribute}
if verbose:
print('Loading annotations for {} split from nuScenes version: {}'.
format(pkl_path, nusc.version))
import mmcv
infos = mmcv.load(pkl_path)['infos']
samples = []
for info in infos:
samples.append(nusc.get('sample', info['token']))
all_annotations = EvalBoxes()
# Load annotations and filter predictions and annotations.
merge_map = dict(car='vehicle',
truck='vehicle',
bus='vehicle',
trailer='vehicle',
construction_vehicle='vehicle',
pedestrian='pedestrian',
motorcycle='bike',
bicycle='bike',
traffic_cone='traffic_boundary',
barrier='traffic_boundary')
for sample in tqdm.tqdm(samples, leave=verbose):
sample_token = sample['token']
cam_token = sample['data']['CAM_FRONT']
_, boxes_cam, _ = nusc.get_sample_data(cam_token)
sample_annotation_tokens = [box.token for box in boxes_cam]
# sample = nusc.get('sample', sample_token)
# sample_annotation_tokens = sample['anns']
sample_boxes = []
for sample_annotation_token in sample_annotation_tokens:
sample_annotation = nusc.get('sample_annotation',
sample_annotation_token)
if box_cls == DetectionBox:
# Get label name in detection task and filter unused labels.
detection_name = category_to_detection_name(
sample_annotation['category_name'])
if detection_name is None:
continue
detection_name = merge_map[detection_name]
# Get attribute_name.
attr_tokens = sample_annotation['attribute_tokens']
attr_count = len(attr_tokens)
if attr_count == 0:
attribute_name = ''
elif attr_count == 1:
attribute_name = attribute_map[attr_tokens[0]]
else:
raise Exception(
'Error: GT annotations must not have more than one attribute!'
)
sample_boxes.append(
box_cls(
sample_token=sample_token,
translation=sample_annotation['translation'],
size=sample_annotation['size'],
rotation=sample_annotation['rotation'],
velocity=nusc.box_velocity(
sample_annotation['token'])[:2],
num_pts=sample_annotation['num_lidar_pts'] +
sample_annotation['num_radar_pts'],
detection_name=detection_name,
detection_score=-1.0, # GT samples do not have a score.
attribute_name=attribute_name))
else:
raise NotImplementedError('Error: Invalid box_cls %s!' %
box_cls)
all_annotations.add_boxes(sample_token, sample_boxes)
if verbose:
print("Loaded ground truth annotations for {} samples.".format(
len(all_annotations.sample_tokens)))
return all_annotations