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Fix Detection Estimation segment mapping #197

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Merged
chanwutk merged 5 commits into from
Jan 19, 2023
Merged

Fix Detection Estimation segment mapping #197

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1099af4
fix polygon contains
chanwutk Jan 18, 2023
4c5d015
style: [CI] format
Jan 18, 2023
1734ed2
fix postgis LineString[] typing
chanwutk Jan 19, 2023
e10e024
style: [CI] cleanup python notebooks
Jan 19, 2023
02c9f0a
Merge branch 'detection_estimation' into ck/fix-segment-trajectory-2
chanwutk Jan 19, 2023
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2 changes: 1 addition & 1 deletion optimized_ingestion/stages/detection_3d/from_2d_and_road.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def _run(self, payload: "Payload"):

metadata: "list[Metadatum]" = []
for k, (d2d, clss), frame in tqdm(zip(payload.keep, detection2ds, payload.video)):
if not k:
if not k or d2d.shape[0] == 0:
metadata.append(Metadatum(torch.tensor([], device=d2d.device), clss))
continue

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12 changes: 4 additions & 8 deletions optimized_ingestion/stages/detection_estimation/detection_estimation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
from .segment_mapping import CameraPolygonMapping, RoadPolygonInfo
from .utils import (Float2, Float3, Float22, compute_area, compute_distance,
detection_to_img_segment, detection_to_nearest_segment,
get_largest_segment, get_segment_line,
get_largest_polygon_containing_ego, get_segment_line,
relative_direction_to_ego, trajectory_3d)


Expand Down Expand Up @@ -189,6 +189,7 @@ def get_next_frame_num(self, next_frame_num: int):
next_sample_frame_info = self.get_next_sample_frame_info()
if next_sample_frame_info:
_, next_sample_frame_num, _ = next_sample_frame_info
assert next_sample_frame_num is not None
self.next_frame_num = max(next_sample_frame_num, next_frame_num)
return self.next_frame_num

Expand All @@ -202,13 +203,8 @@ def construct_all_detection_info(
all_detection_info: "List[DetectionInfo]" = []
if len(all_detections) == 0:
return all_detection_info
ego_mapping = get_largest_segment(cam_polygon_mapping)
if ego_mapping is None:
# for mapping in cam_segment_mapping:
# cam_segment, road_segment_info = mapping
raise ValueError('Ego segment not included')

_, ego_road_segment_info = ego_mapping
_, ego_road_polygon_info = get_largest_polygon_containing_ego(cam_polygon_mapping)

for detection in all_detections:
detection_id, car_loc3d, car_loc2d, car_bbox3d, car_bbox2d = detection
Expand All @@ -227,7 +223,7 @@ def construct_all_detection_info(
car_bbox2d,
ego_trajectory,
ego_config,
ego_road_segment_info)
ego_road_polygon_info)
all_detection_info.append(detection_info)

return all_detection_info
Expand Down
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