一、前言
官方给出的方法：
https://github.com/open-mmlab/OpenPCDet/blob/master/docs/GETTING_STARTED.md本文采用两个方法生成数据集：官方方法和自定义路径方法，后者是为了防止内存不够用。
二、使用官方方法生成并训练数据集
1、整理数据
（1）下载官方数据集
Waymo Open Dataset, 包括训练数据：training_0000.tar~training_0031.tar以及验证集数据： validation_0000.tar~validation_0007.tar（如果仅仅只是想用一部分进行训练，可只下载几个tar压缩包就可以，数量不会影响）。
（2）将上述所有xxxx.tar文件解压到data/waymo/raw_data目录(可以得到798训练tfrecord和202验证tfrecord)。
（3）所有的数据集名称需要更改为：segment-xxxxxxxx.tfrecord。
（4）整理目录
在OpenPCDet-master/data文件目录需要整理如下：
├── data
│ ├── waymo
│ │ │── ImageSets
│ │ │── raw_data
│ │ │ │── segment-xxxxxxxx.tfrecord
| | | |── ...
注意：这里只能在OpenPCDet根目录下生成数据集，否则需要更改源码，后面的方法有讲到
简单整理如下图所示：
raw_data目录：
注意：这里raw_data一定要将train和val的数据集放到一起，不能只放其中一个，否则之后eval会报错，无法评估结果。
2、安装工具包
pip install waymo-open-dataset-tf-2.11.0==1.5.0我安装的是waymo-open-dataset-tf-2.11.0，大家根据需求来安装版本，我的2-1-0不能用。
3、使用命令进行转换
从tfrecord中提取点云数据并生成数据信息：
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml
最终生成的数据集目录如下所示：
# Download Waymo and organize it into the following form:
├── data
│ ├── waymo
│ │ │── ImageSets
│ │ │── raw_data
│ │ │ │── segment-xxxxxxxx.tfrecord
| | | |── ...
| | |── waymo_processed_data
│ │ │ │── segment-xxxxxxxx/
| | | |── ...
│ │ │── pcdet_gt_database_train_sampled_xx/
│ │ │── pcdet_waymo_dbinfos_train_sampled_xx.pkl
如图：
4、训练
这里以PV_RCNN++为例，使用命令：
python train.py --cfg_file /home/xd/xyy/OpenPCDet-master/tools/cfgs/waymo_models/pv_rcnn_plusplus.yaml
三、在自定义目录下生成并训练数据集
自定义目录下生成并训练数据集主要是为了节约内存，不同版本pcdet及相关代码共用一个数据集。
1、整理数据
（1）请下载官方数据集：
Waymo Open Dataset, 包括训练数据：training_0000.tar~training_0031.tar以及验证集数据： validation_0000.tar~validation_0007.tar.
（2）将上述所有xxxx.tar文件解压到data/waymo/raw_data目录(可以得到798训练tfrecord和202验证tfrecord)：
（3）所有的数据集名称需要更改为：segment-xxxxxxxx.tfrecord，如果是下载的是individual
（4）整理目录
前三步是与上面一样的。
下面整理目录可以将数据放在xxx/data文件目录下：
├xxx
├── data
│ ├── waymo
│ │ │── ImageSets
│ │ │── raw_data
│ │ │ │── segment-xxxxxxxx.tfrecord
| | | |── ...
以下面图举例，我是放在了自定义文件夹hpc/data/waymo_pcdet_mini中，
raw_data文件夹如下所示：
2、安装工具包
pip install waymo-open-dataset-tf-2.11.0==1.5.0
3、更改waymo源码
注：源码只能在OpenPCDet-master目录下生成数据，这里需要新加一些可以传入的参数进行转换。
（1）更改生成数据源码——waymo_dataset.py
位置：
/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py
更改部分主要是：parser和ROOT_DIR
其中，更改部分如下图所示：
更改后的源码如下：
# OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved.
import os
import pickle
import copy
import numpy as np
import torch
import multiprocessing
import SharedArray
import torch.distributed as dist
from tqdm import tqdm
from pathlib import Path
from functools import partial
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils, common_utils
from ..dataset import DatasetTemplate
class WaymoDataset(DatasetTemplate):
def __init__(self, dataset_cfg, class_names, training=True, root_path=None, logger=None):
super().__init__(
dataset_cfg=dataset_cfg, class_names=class_names, training=training, root_path=root_path, logger=logger
)
self.data_path = self.root_path / self.dataset_cfg.PROCESSED_DATA_TAG
self.split = self.dataset_cfg.DATA_SPLIT[self.mode]
split_dir = self.root_path / 'ImageSets' / (self.split + '.txt')
self.sample_sequence_list = [x.strip() for x in open(split_dir).readlines()]
self.infos = []
self.seq_name_to_infos = self.include_waymo_data(self.mode)
self.use_shared_memory = self.dataset_cfg.get('USE_SHARED_MEMORY', False) and self.training
if self.use_shared_memory:
self.shared_memory_file_limit = self.dataset_cfg.get('SHARED_MEMORY_FILE_LIMIT', 0x7FFFFFFF)
self.load_data_to_shared_memory()
if self.dataset_cfg.get('USE_PREDBOX', False):
self.pred_boxes_dict = self.load_pred_boxes_to_dict(
pred_boxes_path=self.dataset_cfg.ROI_BOXES_PATH[self.mode]
)
else:
self.pred_boxes_dict = {}
def set_split(self, split):
super().__init__(
dataset_cfg=self.dataset_cfg, class_names=self.class_names, training=self.training,
root_path=self.root_path, logger=self.logger
)
self.split = split
split_dir = self.root_path / 'ImageSets' / (self.split + '.txt')
self.sample_sequence_list = [x.strip() for x in open(split_dir).readlines()]
self.infos = []
self.seq_name_to_infos = self.include_waymo_data(self.mode)
def include_waymo_data(self, mode):
self.logger.info('Loading Waymo dataset')
waymo_infos = []
seq_name_to_infos = {}
num_skipped_infos = 0
for k in range(len(self.sample_sequence_list)):
sequence_name = os.path.splitext(self.sample_sequence_list[k])[0]
info_path = self.data_path / sequence_name / ('%s.pkl' % sequence_name)
info_path = self.check_sequence_name_with_all_version(info_path)
if not info_path.exists():
num_skipped_infos += 1
continue
with open(info_path, 'rb') as f:
infos = pickle.load(f)
waymo_infos.extend(infos)
seq_name_to_infos[infos[0]['point_cloud']['lidar_sequence']] = infos
self.infos.extend(waymo_infos[:])
self.logger.info('Total skipped info %s' % num_skipped_infos)
self.logger.info('Total samples for Waymo dataset: %d' % (len(waymo_infos)))
if self.dataset_cfg.SAMPLED_INTERVAL[mode] > 1:
sampled_waymo_infos = []
for k in range(0, len(self.infos), self.dataset_cfg.SAMPLED_INTERVAL[mode]):
sampled_waymo_infos.append(self.infos[k])
self.infos = sampled_waymo_infos
self.logger.info('Total sampled samples for Waymo dataset: %d' % len(self.infos))
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG', None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if not use_sequence_data:
seq_name_to_infos = None
return seq_name_to_infos
def load_pred_boxes_to_dict(self, pred_boxes_path):
self.logger.info(f'Loading and reorganizing pred_boxes to dict from path: {pred_boxes_path}')
with open(pred_boxes_path, 'rb') as f:
pred_dicts = pickle.load(f)
pred_boxes_dict = {}
for index, box_dict in enumerate(pred_dicts):
seq_name = box_dict['frame_id'][:-4].replace('training_', '').replace('validation_', '')
sample_idx = int(box_dict['frame_id'][-3:])
if seq_name not in pred_boxes_dict:
pred_boxes_dict[seq_name] = {}
pred_labels = np.array([self.class_names.index(box_dict['name'][k]) + 1 for k in range(box_dict['name'].shape[0])])
pred_boxes = np.concatenate((box_dict['boxes_lidar'], box_dict['score'][:, np.newaxis], pred_labels[:, np.newaxis]), axis=-1)
pred_boxes_dict[seq_name][sample_idx] = pred_boxes
self.logger.info(f'Predicted boxes has been loaded, total sequences: {len(pred_boxes_dict)}')
return pred_boxes_dict
def load_data_to_shared_memory(self):
self.logger.info(f'Loading training data to shared memory (file limit={self.shared_memory_file_limit})')
cur_rank, num_gpus = common_utils.get_dist_info()
all_infos = self.infos[:self.shared_memory_file_limit] \
if self.shared_memory_file_limit < len(self.infos) else self.infos
cur_infos = all_infos[cur_rank::num_gpus]
for info in cur_infos:
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
sa_key = f'{sequence_name}___{sample_idx}'
if os.path.exists(f"/dev/shm/{sa_key}"):
continue
points = self.get_lidar(sequence_name, sample_idx)
common_utils.sa_create(f"shm://{sa_key}", points)
dist.barrier()
self.logger.info('Training data has been saved to shared memory')
def clean_shared_memory(self):
self.logger.info(f'Clean training data from shared memory (file limit={self.shared_memory_file_limit})')
cur_rank, num_gpus = common_utils.get_dist_info()
all_infos = self.infos[:self.shared_memory_file_limit] \
if self.shared_memory_file_limit < len(self.infos) else self.infos
cur_infos = all_infos[cur_rank::num_gpus]
for info in cur_infos:
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
sa_key = f'{sequence_name}___{sample_idx}'
if not os.path.exists(f"/dev/shm/{sa_key}"):
continue
SharedArray.delete(f"shm://{sa_key}")
if num_gpus > 1:
dist.barrier()
self.logger.info('Training data has been deleted from shared memory')
@staticmethod
def check_sequence_name_with_all_version(sequence_file):
if not sequence_file.exists():
found_sequence_file = sequence_file
for pre_text in ['training', 'validation', 'testing']:
if not sequence_file.exists():
temp_sequence_file = Path(str(sequence_file).replace('segment', pre_text + '_segment'))
if temp_sequence_file.exists():
found_sequence_file = temp_sequence_file
break
if not found_sequence_file.exists():
found_sequence_file = Path(str(sequence_file).replace('_with_camera_labels', ''))
if found_sequence_file.exists():
sequence_file = found_sequence_file
return sequence_file
def get_infos(self, raw_data_path, save_path, num_workers=multiprocessing.cpu_count(), has_label=True, sampled_interval=1, update_info_only=False):
from . import waymo_utils
print('---------------The waymo sample interval is %d, total sequecnes is %d-----------------'
% (sampled_interval, len(self.sample_sequence_list)))
process_single_sequence = partial(
waymo_utils.process_single_sequence,
save_path=save_path, sampled_interval=sampled_interval, has_label=has_label, update_info_only=update_info_only
)
sample_sequence_file_list = [
self.check_sequence_name_with_all_version(raw_data_path / sequence_file)
for sequence_file in self.sample_sequence_list
]
# process_single_sequence(sample_sequence_file_list[0])
with multiprocessing.Pool(num_workers) as p:
sequence_infos = list(tqdm(p.imap(process_single_sequence, sample_sequence_file_list),
total=len(sample_sequence_file_list)))
all_sequences_infos = [item for infos in sequence_infos for item in infos]
return all_sequences_infos
def get_lidar(self, sequence_name, sample_idx):
lidar_file = self.data_path / sequence_name / ('%04d.npy' % sample_idx)
point_features = np.load(lidar_file) # (N, 7): [x, y, z, intensity, elongation, NLZ_flag]
points_all, NLZ_flag = point_features[:, 0:5], point_features[:, 5]
if not self.dataset_cfg.get('DISABLE_NLZ_FLAG_ON_POINTS', False):
points_all = points_all[NLZ_flag == -1]
points_all[:, 3] = np.tanh(points_all[:, 3])
return points_all
@staticmethod
def transform_prebox_to_current(pred_boxes3d, pose_pre, pose_cur):
"""
Args:
pred_boxes3d (N, 9 or 11): [x, y, z, dx, dy, dz, raw, <vx, vy,> score, label]
pose_pre (4, 4):
pose_cur (4, 4):
Returns:
"""
assert pred_boxes3d.shape[-1] in [9, 11]
pred_boxes3d = pred_boxes3d.copy()
expand_bboxes = np.concatenate([pred_boxes3d[:, :3], np.ones((pred_boxes3d.shape[0], 1))], axis=-1)
bboxes_global = np.dot(expand_bboxes, pose_pre.T)[:, :3]
expand_bboxes_global = np.concatenate([bboxes_global[:, :3],np.ones((bboxes_global.shape[0], 1))], axis=-1)
bboxes_pre2cur = np.dot(expand_bboxes_global, np.linalg.inv(pose_cur.T))[:, :3]
pred_boxes3d[:, 0:3] = bboxes_pre2cur
if pred_boxes3d.shape[-1] == 11:
expand_vels = np.concatenate([pred_boxes3d[:, 7:9], np.zeros((pred_boxes3d.shape[0], 1))], axis=-1)
vels_global = np.dot(expand_vels, pose_pre[:3, :3].T)
vels_pre2cur = np.dot(vels_global, np.linalg.inv(pose_cur[:3, :3].T))[:,:2]
pred_boxes3d[:, 7:9] = vels_pre2cur
pred_boxes3d[:, 6] = pred_boxes3d[..., 6] + np.arctan2(pose_pre[..., 1, 0], pose_pre[..., 0, 0])
pred_boxes3d[:, 6] = pred_boxes3d[..., 6] - np.arctan2(pose_cur[..., 1, 0], pose_cur[..., 0, 0])
return pred_boxes3d
@staticmethod
def reorder_rois_for_refining(pred_bboxes):
num_max_rois = max([len(bbox) for bbox in pred_bboxes])
num_max_rois = max(1, num_max_rois) # at least one faked rois to avoid error
ordered_bboxes = np.zeros([len(pred_bboxes), num_max_rois, pred_bboxes[0].shape[-1]], dtype=np.float32)
for bs_idx in range(ordered_bboxes.shape[0]):
ordered_bboxes[bs_idx, :len(pred_bboxes[bs_idx])] = pred_bboxes[bs_idx]
return ordered_bboxes
def get_sequence_data(self, info, points, sequence_name, sample_idx, sequence_cfg, load_pred_boxes=False):
"""
Args:
info:
points:
sequence_name:
sample_idx:
sequence_cfg:
Returns:
"""
def remove_ego_points(points, center_radius=1.0):
mask = ~((np.abs(points[:, 0]) < center_radius) & (np.abs(points[:, 1]) < center_radius))
return points[mask]
def load_pred_boxes_from_dict(sequence_name, sample_idx):
"""
boxes: (N, 11) [x, y, z, dx, dy, dn, raw, vx, vy, score, label]
"""
sequence_name = sequence_name.replace('training_', '').replace('validation_', '')
load_boxes = self.pred_boxes_dict[sequence_name][sample_idx]
assert load_boxes.shape[-1] == 11
load_boxes[:, 7:9] = -0.1 * load_boxes[:, 7:9] # transfer speed to negtive motion from t to t-1
return load_boxes
pose_cur = info['pose'].reshape((4, 4))
num_pts_cur = points.shape[0]
sample_idx_pre_list = np.clip(sample_idx + np.arange(sequence_cfg.SAMPLE_OFFSET[0], sequence_cfg.SAMPLE_OFFSET[1]), 0, 0x7FFFFFFF)
sample_idx_pre_list = sample_idx_pre_list[::-1]
if sequence_cfg.get('ONEHOT_TIMESTAMP', False):
onehot_cur = np.zeros((points.shape[0], len(sample_idx_pre_list) + 1)).astype(points.dtype)
onehot_cur[:, 0] = 1
points = np.hstack([points, onehot_cur])
else:
points = np.hstack([points, np.zeros((points.shape[0], 1)).astype(points.dtype)])
points_pre_all = []
num_points_pre = []
pose_all = [pose_cur]
pred_boxes_all = []
if load_pred_boxes:
pred_boxes = load_pred_boxes_from_dict(sequence_name, sample_idx)
pred_boxes_all.append(pred_boxes)
sequence_info = self.seq_name_to_infos[sequence_name]
for idx, sample_idx_pre in enumerate(sample_idx_pre_list):
points_pre = self.get_lidar(sequence_name, sample_idx_pre)
pose_pre = sequence_info[sample_idx_pre]['pose'].reshape((4, 4))
expand_points_pre = np.concatenate([points_pre[:, :3], np.ones((points_pre.shape[0], 1))], axis=-1)
points_pre_global = np.dot(expand_points_pre, pose_pre.T)[:, :3]
expand_points_pre_global = np.concatenate([points_pre_global, np.ones((points_pre_global.shape[0], 1))], axis=-1)
points_pre2cur = np.dot(expand_points_pre_global, np.linalg.inv(pose_cur.T))[:, :3]
points_pre = np.concatenate([points_pre2cur, points_pre[:, 3:]], axis=-1)
if sequence_cfg.get('ONEHOT_TIMESTAMP', False):
onehot_vector = np.zeros((points_pre.shape[0], len(sample_idx_pre_list) + 1))
onehot_vector[:, idx + 1] = 1
points_pre = np.hstack([points_pre, onehot_vector])
else:
# add timestamp
points_pre = np.hstack([points_pre, 0.1 * (sample_idx - sample_idx_pre) * np.ones((points_pre.shape[0], 1)).astype(points_pre.dtype)]) # one frame 0.1s
points_pre = remove_ego_points(points_pre, 1.0)
points_pre_all.append(points_pre)
num_points_pre.append(points_pre.shape[0])
pose_all.append(pose_pre)
if load_pred_boxes:
pose_pre = sequence_info[sample_idx_pre]['pose'].reshape((4, 4))
pred_boxes = load_pred_boxes_from_dict(sequence_name, sample_idx_pre)
pred_boxes = self.transform_prebox_to_current(pred_boxes, pose_pre, pose_cur)
pred_boxes_all.append(pred_boxes)
points = np.concatenate([points] + points_pre_all, axis=0).astype(np.float32)
num_points_all = np.array([num_pts_cur] + num_points_pre).astype(np.int32)
poses = np.concatenate(pose_all, axis=0).astype(np.float32)
if load_pred_boxes:
temp_pred_boxes = self.reorder_rois_for_refining(pred_boxes_all)
pred_boxes = temp_pred_boxes[:, :, 0:9]
pred_scores = temp_pred_boxes[:, :, 9]
pred_labels = temp_pred_boxes[:, :, 10]
else:
pred_boxes = pred_scores = pred_labels = None
return points, num_points_all, sample_idx_pre_list, poses, pred_boxes, pred_scores, pred_labels
def __len__(self):
if self._merge_all_iters_to_one_epoch:
return len(self.infos) * self.total_epochs
return len(self.infos)
def __getitem__(self, index):
if self._merge_all_iters_to_one_epoch:
index = index % len(self.infos)
info = copy.deepcopy(self.infos[index])
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
input_dict = {
'sample_idx': sample_idx
}
if self.use_shared_memory and index < self.shared_memory_file_limit:
sa_key = f'{sequence_name}___{sample_idx}'
points = SharedArray.attach(f"shm://{sa_key}").copy()
else:
points = self.get_lidar(sequence_name, sample_idx)
if self.dataset_cfg.get('SEQUENCE_CONFIG', None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED:
points, num_points_all, sample_idx_pre_list, poses, pred_boxes, pred_scores, pred_labels = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG,
load_pred_boxes=self.dataset_cfg.get('USE_PREDBOX', False)
)
input_dict['poses'] = poses
if self.dataset_cfg.get('USE_PREDBOX', False):
input_dict.update({
'roi_boxes': pred_boxes,
'roi_scores': pred_scores,
'roi_labels': pred_labels,
})
input_dict.update({
'points': points,
'frame_id': info['frame_id'],
})
if 'annos' in info:
annos = info['annos']
annos = common_utils.drop_info_with_name(annos, name='unknown')
if self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False):
gt_boxes_lidar = box_utils.boxes3d_kitti_fakelidar_to_lidar(annos['gt_boxes_lidar'])
else:
gt_boxes_lidar = annos['gt_boxes_lidar']
if self.dataset_cfg.get('TRAIN_WITH_SPEED', False):
assert gt_boxes_lidar.shape[-1] == 9
else:
gt_boxes_lidar = gt_boxes_lidar[:, 0:7]
if self.training and self.dataset_cfg.get('FILTER_EMPTY_BOXES_FOR_TRAIN', False):
mask = (annos['num_points_in_gt'] > 0) # filter empty boxes
annos['name'] = annos['name'][mask]
gt_boxes_lidar = gt_boxes_lidar[mask]
annos['num_points_in_gt'] = annos['num_points_in_gt'][mask]
input_dict.update({
'gt_names': annos['name'],
'gt_boxes': gt_boxes_lidar,
'num_points_in_gt': annos.get('num_points_in_gt', None)
})
data_dict = self.prepare_data(data_dict=input_dict)
data_dict['metadata'] = info.get('metadata', info['frame_id'])
data_dict.pop('num_points_in_gt', None)
return data_dict
def evaluation(self, det_annos, class_names, **kwargs):
if 'annos' not in self.infos[0].keys():
return 'No ground-truth boxes for evaluation', {}
def kitti_eval(eval_det_annos, eval_gt_annos):
from ..kitti.kitti_object_eval_python import eval as kitti_eval
from ..kitti import kitti_utils
map_name_to_kitti = {
'Vehicle': 'Car',
'Pedestrian': 'Pedestrian',
'Cyclist': 'Cyclist',
'Sign': 'Sign',
'Car': 'Car'
}
kitti_utils.transform_annotations_to_kitti_format(eval_det_annos, map_name_to_kitti=map_name_to_kitti)
kitti_utils.transform_annotations_to_kitti_format(
eval_gt_annos, map_name_to_kitti=map_name_to_kitti,
info_with_fakelidar=self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False)
)
kitti_class_names = [map_name_to_kitti[x] for x in class_names]
ap_result_str, ap_dict = kitti_eval.get_official_eval_result(
gt_annos=eval_gt_annos, dt_annos=eval_det_annos, current_classes=kitti_class_names
)
return ap_result_str, ap_dict
def waymo_eval(eval_det_annos, eval_gt_annos):
from .waymo_eval import OpenPCDetWaymoDetectionMetricsEstimator
eval = OpenPCDetWaymoDetectionMetricsEstimator()
ap_dict = eval.waymo_evaluation(
eval_det_annos, eval_gt_annos, class_name=class_names,
distance_thresh=1000, fake_gt_infos=self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False)
)
ap_result_str = '\n'
for key in ap_dict:
ap_dict[key] = ap_dict[key][0]
ap_result_str += '%s: %.4f \n' % (key, ap_dict[key])
return ap_result_str, ap_dict
eval_det_annos = copy.deepcopy(det_annos)
eval_gt_annos = [copy.deepcopy(info['annos']) for info in self.infos]
if kwargs['eval_metric'] == 'kitti':
ap_result_str, ap_dict = kitti_eval(eval_det_annos, eval_gt_annos)
elif kwargs['eval_metric'] == 'waymo':
ap_result_str, ap_dict = waymo_eval(eval_det_annos, eval_gt_annos)
else:
raise NotImplementedError
return ap_result_str, ap_dict
def create_groundtruth_database(self, info_path, save_path, used_classes=None, split='train', sampled_interval=10,
processed_data_tag=None):
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG', None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if use_sequence_data:
st_frame, ed_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0], self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[1]
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0] = min(-4, st_frame) # at least we use 5 frames for generating gt database to support various sequence configs (<= 5 frames)
st_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0]
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s' % (processed_data_tag, split, sampled_interval, st_frame, ed_frame))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d_multiframe_%s_to_%s.pkl' % (processed_data_tag, split, sampled_interval, st_frame, ed_frame))
db_data_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s_global.npy' % (processed_data_tag, split, sampled_interval, st_frame, ed_frame))
else:
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d' % (processed_data_tag, split, sampled_interval))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d.pkl' % (processed_data_tag, split, sampled_interval))
db_data_save_path = save_path / ('%s_gt_database_%s_sampled_%d_global.npy' % (processed_data_tag, split, sampled_interval))
database_save_path.mkdir(parents=True, exist_ok=True)
all_db_infos = {}
with open(info_path, 'rb') as f:
infos = pickle.load(f)
point_offset_cnt = 0
stacked_gt_points = []
for k in tqdm(range(0, len(infos), sampled_interval)):
# print('gt_database sample: %d/%d' % (k + 1, len(infos)))
info = infos[k]
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
points = self.get_lidar(sequence_name, sample_idx)
if use_sequence_data:
points, num_points_all, sample_idx_pre_list, _, _, _, _ = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG
)
annos = info['annos']
names = annos['name']
difficulty = annos['difficulty']
gt_boxes = annos['gt_boxes_lidar']
if k % 4 != 0 and len(names) > 0:
mask = (names == 'Vehicle')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
if k % 2 != 0 and len(names) > 0:
mask = (names == 'Pedestrian')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
num_obj = gt_boxes.shape[0]
if num_obj == 0:
continue
box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(
torch.from_numpy(points[:, 0:3]).unsqueeze(dim=0).float().cuda(),
torch.from_numpy(gt_boxes[:, 0:7]).unsqueeze(dim=0).float().cuda()
).long().squeeze(dim=0).cpu().numpy()
for i in range(num_obj):
filename = '%s_%04d_%s_%d.bin' % (sequence_name, sample_idx, names[i], i)
filepath = database_save_path / filename
gt_points = points[box_idxs_of_pts == i]
gt_points[:, :3] -= gt_boxes[i, :3]
if (used_classes is None) or names[i] in used_classes:
gt_points = gt_points.astype(np.float32)
assert gt_points.dtype == np.float32
with open(filepath, 'w') as f:
gt_points.tofile(f)
db_path = str(filepath.relative_to(self.root_path)) # gt_database/xxxxx.bin
db_info = {'name': names[i], 'path': db_path, 'sequence_name': sequence_name,
'sample_idx': sample_idx, 'gt_idx': i, 'box3d_lidar': gt_boxes[i],
'num_points_in_gt': gt_points.shape[0], 'difficulty': difficulty[i]}
# it will be used if you choose to use shared memory for gt sampling
stacked_gt_points.append(gt_points)
db_info['global_data_offset'] = [point_offset_cnt, point_offset_cnt + gt_points.shape[0]]
point_offset_cnt += gt_points.shape[0]
if names[i] in all_db_infos:
all_db_infos[names[i]].append(db_info)
else:
all_db_infos[names[i]] = [db_info]
for k, v in all_db_infos.items():
print('Database %s: %d' % (k, len(v)))
with open(db_info_save_path, 'wb') as f:
pickle.dump(all_db_infos, f)
# it will be used if you choose to use shared memory for gt sampling
stacked_gt_points = np.concatenate(stacked_gt_points, axis=0)
np.save(db_data_save_path, stacked_gt_points)
def create_gt_database_of_single_scene(self, info_with_idx, database_save_path=None, use_sequence_data=False, used_classes=None,
total_samples=0, use_cuda=False, crop_gt_with_tail=False):
info, info_idx = info_with_idx
print('gt_database sample: %d/%d' % (info_idx, total_samples))
all_db_infos = {}
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
points = self.get_lidar(sequence_name, sample_idx)
if use_sequence_data:
points, num_points_all, sample_idx_pre_list, _, _, _, _ = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG
)
annos = info['annos']
names = annos['name']
difficulty = annos['difficulty']
gt_boxes = annos['gt_boxes_lidar']
if info_idx % 4 != 0 and len(names) > 0:
mask = (names == 'Vehicle')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
if info_idx % 2 != 0 and len(names) > 0:
mask = (names == 'Pedestrian')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
num_obj = gt_boxes.shape[0]
if num_obj == 0:
return {}
if use_sequence_data and crop_gt_with_tail:
assert gt_boxes.shape[1] == 9
speed = gt_boxes[:, 7:9]
sequence_cfg = self.dataset_cfg.SEQUENCE_CONFIG
assert sequence_cfg.SAMPLE_OFFSET[1] == 0
assert sequence_cfg.SAMPLE_OFFSET[0] < 0
num_frames = sequence_cfg.SAMPLE_OFFSET[1] - sequence_cfg.SAMPLE_OFFSET[0] + 1
assert num_frames > 1
latest_center = gt_boxes[:, 0:2]
oldest_center = latest_center - speed * (num_frames - 1) * 0.1
new_center = (latest_center + oldest_center) * 0.5
new_length = gt_boxes[:, 3] + np.linalg.norm(latest_center - oldest_center, axis=-1)
gt_boxes_crop = gt_boxes.copy()
gt_boxes_crop[:, 0:2] = new_center
gt_boxes_crop[:, 3] = new_length
else:
gt_boxes_crop = gt_boxes
if use_cuda:
box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(
torch.from_numpy(points[:, 0:3]).unsqueeze(dim=0).float().cuda(),
torch.from_numpy(gt_boxes_crop[:, 0:7]).unsqueeze(dim=0).float().cuda()
).long().squeeze(dim=0).cpu().numpy()
else:
box_point_mask = roiaware_pool3d_utils.points_in_boxes_cpu(
torch.from_numpy(points[:, 0:3]).float(),
torch.from_numpy(gt_boxes_crop[:, 0:7]).float()
).long().numpy() # (num_boxes, num_points)
for i in range(num_obj):
filename = '%s_%04d_%s_%d.bin' % (sequence_name, sample_idx, names[i], i)
filepath = database_save_path / filename
if use_cuda:
gt_points = points[box_idxs_of_pts == i]
else:
gt_points = points[box_point_mask[i] > 0]
gt_points[:, :3] -= gt_boxes[i, :3]
if (used_classes is None) or names[i] in used_classes:
gt_points = gt_points.astype(np.float32)
assert gt_points.dtype == np.float32
with open(filepath, 'w') as f:
gt_points.tofile(f)
db_path = str(filepath.relative_to(self.root_path)) # gt_database/xxxxx.bin
db_info = {'name': names[i], 'path': db_path, 'sequence_name': sequence_name,
'sample_idx': sample_idx, 'gt_idx': i, 'box3d_lidar': gt_boxes[i],
'num_points_in_gt': gt_points.shape[0], 'difficulty': difficulty[i],
'box3d_crop': gt_boxes_crop[i]}
if names[i] in all_db_infos:
all_db_infos[names[i]].append(db_info)
else:
all_db_infos[names[i]] = [db_info]
return all_db_infos
def create_groundtruth_database_parallel(self, info_path, save_path, used_classes=None, split='train', sampled_interval=10,
processed_data_tag=None, num_workers=16, crop_gt_with_tail=False):
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG', None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if use_sequence_data:
st_frame, ed_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0], self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[1]
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0] = min(-4, st_frame) # at least we use 5 frames for generating gt database to support various sequence configs (<= 5 frames)
st_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0]
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s_%sparallel' % (processed_data_tag, split, sampled_interval, st_frame, ed_frame, 'tail_' if crop_gt_with_tail else ''))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d_multiframe_%s_to_%s_%sparallel.pkl' % (processed_data_tag, split, sampled_interval, st_frame, ed_frame, 'tail_' if crop_gt_with_tail else ''))
else:
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d_parallel' % (processed_data_tag, split, sampled_interval))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d_parallel.pkl' % (processed_data_tag, split, sampled_interval))
database_save_path.mkdir(parents=True, exist_ok=True)
with open(info_path, 'rb') as f:
infos = pickle.load(f)
print(f'Number workers: {num_workers}')
create_gt_database_of_single_scene = partial(
self.create_gt_database_of_single_scene,
use_sequence_data=use_sequence_data, database_save_path=database_save_path,
used_classes=used_classes, total_samples=len(infos), use_cuda=False,
crop_gt_with_tail=crop_gt_with_tail
)
# create_gt_database_of_single_scene((infos[300], 0))
with multiprocessing.Pool(num_workers) as p:
all_db_infos_list = list(p.map(create_gt_database_of_single_scene, zip(infos, np.arange(len(infos)))))
all_db_infos = {}
for cur_db_infos in all_db_infos_list:
for key, val in cur_db_infos.items():
if key not in all_db_infos:
all_db_infos[key] = val
else:
all_db_infos[key].extend(val)
for k, v in all_db_infos.items():
print('Database %s: %d' % (k, len(v)))
with open(db_info_save_path, 'wb') as f:
pickle.dump(all_db_infos, f)
def create_waymo_infos(dataset_cfg, class_names, data_path, save_path,
raw_data_tag='raw_data', processed_data_tag='waymo_processed_data',
workers=min(16, multiprocessing.cpu_count()), update_info_only=False):
dataset = WaymoDataset(
dataset_cfg=dataset_cfg, class_names=class_names, root_path=data_path,
training=False, logger=common_utils.create_logger()
)
train_split, val_split = 'train', 'val'
train_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, train_split))
val_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, val_split))
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
print('---------------Start to generate data infos---------------')
dataset.set_split(train_split)
waymo_infos_train = dataset.get_infos(
raw_data_path=data_path / raw_data_tag,
save_path=save_path / processed_data_tag, num_workers=workers, has_label=True,
sampled_interval=1, update_info_only=update_info_only
)
with open(train_filename, 'wb') as f:
pickle.dump(waymo_infos_train, f)
print('----------------Waymo info train file is saved to %s----------------' % train_filename)
dataset.set_split(val_split)
waymo_infos_val = dataset.get_infos(
raw_data_path=data_path / raw_data_tag,
save_path=save_path / processed_data_tag, num_workers=workers, has_label=True,
sampled_interval=1, update_info_only=update_info_only
)
with open(val_filename, 'wb') as f:
pickle.dump(waymo_infos_val, f)
print('----------------Waymo info val file is saved to %s----------------' % val_filename)
if update_info_only:
return
print('---------------Start create groundtruth database for data augmentation---------------')
os.environ["CUDA_VISIBLE_DEVICES"] = "0"
dataset.set_split(train_split)
dataset.create_groundtruth_database(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag
)
print('---------------Data preparation Done---------------')
def create_waymo_gt_database(
dataset_cfg, class_names, data_path, save_path, processed_data_tag='waymo_processed_data',
workers=min(16, multiprocessing.cpu_count()), use_parallel=False, crop_gt_with_tail=False):
dataset = WaymoDataset(
dataset_cfg=dataset_cfg, class_names=class_names, root_path=data_path,
training=False, logger=common_utils.create_logger()
)
train_split = 'train'
train_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, train_split))
print('---------------Start create groundtruth database for data augmentation---------------')
dataset.set_split(train_split)
if use_parallel:
dataset.create_groundtruth_database_parallel(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag,
num_workers=workers, crop_gt_with_tail=crop_gt_with_tail
)
else:
dataset.create_groundtruth_database(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag
)
print('---------------Data preparation Done---------------')
if __name__ == '__main__':
import argparse
import yaml
from easydict import EasyDict
parser = argparse.ArgumentParser(description='arg parser')
parser.add_argument('--cfg_file', type=str, default=None, help='specify the config of dataset')
parser.add_argument('--func', type=str, default='create_waymo_infos', help='')
parser.add_argument('--processed_data_tag', type=str, default='waymo_processed_data_v0_5_0', help='')
parser.add_argument('--update_info_only', action='store_true', default=False, help='')
parser.add_argument('--use_parallel', action='store_true', default=False, help='')
parser.add_argument('--wo_crop_gt_with_tail', action='store_true', default=False, help='')
parser.add_argument('--data_path', default=None, help='')
args = parser.parse_args()
if args.data_path is not None:
ROOT_DIR = (Path(args.data_path)).resolve()
else:
ROOT_DIR = (Path(__file__).resolve().parent / '../../../').resolve() / 'data'/'waymo'
# ROOT_DIR = (Path(self.dataset_cfg.DATA_PATH)).resolve()
if args.func == 'create_waymo_infos':
try:
yaml_config = yaml.safe_load(open(args.cfg_file), Loader=yaml.FullLoader)
except:
yaml_config = yaml.safe_load(open(args.cfg_file))
dataset_cfg = EasyDict(yaml_config)
dataset_cfg.PROCESSED_DATA_TAG = args.processed_data_tag
create_waymo_infos(
dataset_cfg=dataset_cfg,
class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
data_path=ROOT_DIR,
save_path=ROOT_DIR,
raw_data_tag='raw_data',
processed_data_tag=args.processed_data_tag,
update_info_only=args.update_info_only
)
elif args.func == 'create_waymo_gt_database':
try:
yaml_config = yaml.safe_load(open(args.cfg_file), Loader=yaml.FullLoader)
except:
yaml_config = yaml.safe_load(open(args.cfg_file))
dataset_cfg = EasyDict(yaml_config)
dataset_cfg.PROCESSED_DATA_TAG = args.processed_data_tag
create_waymo_gt_database(
dataset_cfg=dataset_cfg,
class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
data_path=ROOT_DIR,
save_path=ROOT_DIR,
processed_data_tag=args.processed_data_tag,
use_parallel=args.use_parallel,
crop_gt_with_tail=not args.wo_crop_gt_with_tail
)
else:
raise NotImplementedError
（2）更改训练源码
位置：OpenPCDet-master/tools/cfgs/dataset_configs/waymo_dataset.yaml
将DATA_PATH改为自己数据集的路径：
4、使用命令进行转换
从tfrecord中提取点云数据并生成数据信息：
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml --data_path /media/xd/hpc/data/waymo_pcdet_mini/指令格式：
指令格式为：python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml --data_path /media/xd/hpc/data/waymo_pcdet_mini/（waymo数据集路径）
5、训练
这里用PV_RCNN++举例，命令为
python train.py --cfg_file /home/xd/xyy/OpenPCDet-master/tools/cfgs/waymo_models/pv_rcnn_plusplus.yaml
四、关于数据集划分大小测验
我选择测试的是PV-RCNN++，官方的精度为：
测试1/8的结果如下（Traning和validation各取1/8）：
测试一半的数据集时（Traning和validation各取一半），测试结果如下：
这时已经很接近官方的结果了，所以最后还是拿全集去测试。
五、遇到问题
1、ModuleNotFoundError: No module named 'numpy.typing'
答：numpy版本太低了，需要安装numpy>=1.21.0。
2、NotImplementedError: Cannot convert a symbolic Tensor (strided_slice:0) to a numpy array. This error may indicate that you're trying to pass a Tensor to a NumPy call, which is not supported
答：
这是一个很恶心的问题，主要是由于tensorflow与numpy版本不匹配，如果你使用的是官方的指令就容易出现这种错误：
pip install waymo_open_dataset-tf-2-1-0
问题描述：这里的tf-2-1-0指的就是在tensorflow2.1环境下运行，而源码中有些地方需要numpy>=2.21.0（例如：av2需要numpy>=2.21.0)。
提升或降低numpy版本：如果升numpy版本，就会遇到现在这个问题，如果降低numpy版本，又会报问题1的错误。
提升或降低tensorflow版本：不管提升还是降低tensorflow版本，都会由于av2过不了evaluation。
因此会陷入死循环，所以建议提升waymo_open_dataset-tf工具版本。
解决方法：把tensorflow版本提高，用如下指令：
pip install waymo_open_dataset-tf-2.11.0==1.5.0
这个指令会自动安装waymo_open_dataset-tf-2.11.0最新版本工具以及对应版本的tensorflow。
注：对于waymo数据集工具箱与tensorflow版本对应关系如下所示：
| tensor版本 | waymo_open_dataset版本 | numpy版本 |
| tensorflow 2.1至 tensorflow 2.6 | waymo_open_dataset-tf-2-1-0至waymo_open_dataset-tf-2-6-0 | 1.19.2及以下 |
| tensorflow 2.11 | waymo_open_dataset-tf-2.11.0 | 1.21.5 |
中间的tensorflow2.7-2.10目前都是没有开发的，具体可以参考最新手册及案例：
3、ImportError: cannot import name 'ParamSpec' from 'typing_extensions'
答：将typing_extenstions降级：
pip install typing-extensions==4.3.0
如果低版本安装不了，可以卸载了重新装一个不同版本的就可以。
参考：
4、
ImportError: cannot import name 'TypeGuard' from 'typing_extensions'
解决方法：同问题3.
5、AttributeError: module 'numpy.typing' has no attribute 'NDArray'
答：同问题1，numpy版本太低了，需要安装numpy>=1.21.0。
6、AttributeError: module ‘spconv‘ has no attribute ‘SparseModule‘
答：spconv2.x版本太高，需要安装spconv1.2.1进行降级。
CUDA11.x以上建议安装spconv2.x高版本，除非你是CUDA10.2，否则不建议安装spconv1.2.1，过程异常麻烦，且很大概率会在spconv构建环境build时报错：Subprocess.CalledProcessError。
具体可以参考我以前的博客：
7、ValueError: need at least one array to concatenate
答：原因有很多，路径错误，文件名称错误，或者是train数据集和val数据集没有放到一起去转化。
8、tensorflow.python.framework.errors_impl.NotFoundError: /home/xd/anaconda3/lib/python3.8/site-packages/waymo_open_dataset/metrics/ops/metrics_ops.so: undefined symbol: _ZNK10tensorflow8OpKernel11TraceStringERKNS_15OpKernelContextEb
答：waymo_open_dataset-tf的版本与tensorflow不匹配。
9、ImportError: cannot import name 'detection_metrics' from 'waymo_open_dataset.metrics.python' (unknown location)
答：重装一遍waymo_open_dataset-tf。
10、ZeroDivisionError: float division by zero
问题详细描述：
Traceback (most recent call last):
File "train.py", line 229, in <module>
main()
File "train.py", line 219, in main
repeat_eval_ckpt(
File "/home/xyy/OpenPCDet-master/tools/test.py", line 123, in repeat_eval_ckpt
tb_dict = eval_utils.eval_one_epoch(
File "/home/xyy/OpenPCDet-master/tools/eval_utils/eval_utils.py", line 95, in eval_one_epoch
sec_per_example = (time.time() - start_time) / len(dataloader.dataset)
ZeroDivisionError: float division by zero
解决方法：
将val数据集放到/waymo/raw_data下一起转换。
具体解释如下：
首先我们查看一下报错的信息：
ZeroDivisionError: float division by zero代表着分母为0除不尽。
接着，我们来到报错的位置，尝试输出len(dataloader.dataset)：
所以我们可以得出结论，就是dataloader没有读入数据，因此我们开始向上看信息。
查看前面有没有这样的提示：
2023-08-25 19:44:58,443 INFO Total skipped info 202
2023-08-25 19:44:58,443 INFO Total samples for Waymo dataset: 0
信息中说明，跳过了202个，采样到了0个waymo数据。
我们来到total skipped info程序中，位置在：tools/cfgs/dataset_configs/waymo_dataset.py
我们发现，跳过的个数是依靠num_skipped_info 来计数的，当info_path（也就是数据集路径）中没有val.txt(在data/waymo/ImageSets)所提到的数据，那么就计数加1，所以在这里我们输出info_path。
发现跳过的就是val.txt中的文件，经查发现，/raw_data文件夹下确实忘记把val数据集放进去了。
所以结论很明了，我们只需要将val的解压包进行解压，放到val.
11、TFrecord文件错误
问题描述：
在转换waymo的tfrecord遇到这么一个阴间问题，导致我查了很久：
multiprocessing.pool.RemoteTraceback:
"""
Traceback (most recent call last):
File "/data/conda/envs/pcdet/lib/python3.8/multiprocessing/pool.py", line 125, in worker
result = (True, func(*args, **kwds))
File "/home/xyy/OpenPCDet-master/pcdet/datasets/waymo/waymo_utils.py", line 225, in process_single_sequence
for cnt, data in enumerate(dataset):
File "/home/user/.local/lib/python3.8/site-packages/tensorflow/python/data/ops/iterator_ops.py", line 787, in __next__
return self._next_internal()
File "/home/user/.local/lib/python3.8/site-packages/tensorflow/python/data/ops/iterator_ops.py", line 770, in _next_internal
ret = gen_dataset_ops.iterator_get_next(
File "/home/user/.local/lib/python3.8/site-packages/tensorflow/python/ops/gen_dataset_ops.py", line 3017, in iterator_get_next
_ops.raise_from_not_ok_status(e, name)
File "/home/user/.local/lib/python3.8/site-packages/tensorflow/python/framework/ops.py", line 7215, in raise_from_not_ok_status
raise core._status_to_exception(e) from None # pylint: disable=protected-access
tensorflow.python.framework.errors_impl.DataLossError: { {function_node __wrapped__IteratorGetNext_output_types_1_device_/job:localhost/replica:0/task:0/device:CPU:0}} corrupted record at 969164982 [Op:IteratorGetNext]
"""
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/data/conda/envs/pcdet/lib/python3.8/runpy.py", line 194, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/data/conda/envs/pcdet/lib/python3.8/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/xyy/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py", line 831, in <module>
create_waymo_infos(
File "/home/xyy/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py", line 744, in create_waymo_infos
waymo_infos_train = dataset.get_infos(
File "/home/xyy/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py", line 199, in get_infos
sequence_infos = list(tqdm(p.imap(process_single_sequence, sample_sequence_file_list),
File "/data/conda/envs/pcdet/lib/python3.8/site-packages/tqdm/std.py", line 1178, in __iter__
for obj in iterable:
File "/data/conda/envs/pcdet/lib/python3.8/multiprocessing/pool.py", line 868, in next
raise value
tensorflow.python.framework.errors_impl.DataLossError: { {function_node __wrapped__IteratorGetNext_output_types_1_device_/job:localhost/replica:0/task:0/device:CPU:0}} corrupted record at 969164982 [Op:IteratorGetNext]
问题原因：就是官方数据集在转换tfrecord时出了问题，这个现象在v1.4.1更为常见，因此，我们最主要的目的就是查出问题文件并删除。
省事方法：
将名为segment-9175749307679169289_5933_260_5953_260_with_camera_labels.tfrecord文件删除（或先放到一个新建的文件夹里）。
详细处理步骤：
根据问题描述，我们先来到 /OpenPCDet-master/pcdet/datasets/waymo/waymo_utils.py文件的225行：
我们在代码上面输出一下当前转换的tfrecord文件：
接着看下一个问题，定位到了读条函数那里，我们来到/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py的199行：
我们将读条函数的num_workers改为1，让他一个一个转换，看具体是哪个出了问题：
最后再运行一下生成数据指令：
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml查看到的结果如下：
因此，我们将这个文件拿去即可接着转换：
没问题喽~。
修改源码如下：
/OpenPCDet-master/pcdet/datasets/waymo/waymo_dataset.py:
# OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved.
import os
import pickle
import copy
import numpy as np
import torch
import multiprocessing
import SharedArray
import torch.distributed as dist
from tqdm import tqdm
from pathlib import Path
from functools import partial
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils, common_utils
from ..dataset import DatasetTemplate
class WaymoDataset(DatasetTemplate):
def __init__(self, dataset_cfg, class_names, training=True, root_path=None, logger=None):
super().__init__(
dataset_cfg=dataset_cfg, class_names=class_names, training=training, root_path=root_path, logger=logger
)
self.data_path = self.root_path / self.dataset_cfg.PROCESSED_DATA_TAG
self.split = self.dataset_cfg.DATA_SPLIT[self.mode]
split_dir = self.root_path / 'ImageSets' / (self.split + '.txt')
self.sample_sequence_list = [x.strip() for x in open(split_dir).readlines()]
self.infos = []
self.seq_name_to_infos = self.include_waymo_data(self.mode)
self.use_shared_memory = self.dataset_cfg.get('USE_SHARED_MEMORY', False) and self.training
if self.use_shared_memory:
self.shared_memory_file_limit = self.dataset_cfg.get('SHARED_MEMORY_FILE_LIMIT', 0x7FFFFFFF)
self.load_data_to_shared_memory()
if self.dataset_cfg.get('USE_PREDBOX', False):
self.pred_boxes_dict = self.load_pred_boxes_to_dict(
pred_boxes_path=self.dataset_cfg.ROI_BOXES_PATH[self.mode]
)
else:
self.pred_boxes_dict = {}
def set_split(self, split):
super().__init__(
dataset_cfg=self.dataset_cfg, class_names=self.class_names, training=self.training,
root_path=self.root_path, logger=self.logger
)
self.split = split
split_dir = self.root_path / 'ImageSets' / (self.split + '.txt')
self.sample_sequence_list = [x.strip() for x in open(split_dir).readlines()]
self.infos = []
self.seq_name_to_infos = self.include_waymo_data(self.mode)
def include_waymo_data(self, mode):
self.logger.info('Loading Waymo dataset')
waymo_infos = []
seq_name_to_infos = {}
num_skipped_infos = 0
for k in range(len(self.sample_sequence_list)):
sequence_name = os.path.splitext(self.sample_sequence_list[k])[0]
info_path = self.data_path / sequence_name / ('%s.pkl' % sequence_name)
info_path = self.check_sequence_name_with_all_version(info_path)
# print(info_path)
if not info_path.exists():
num_skipped_infos += 1
continue
with open(info_path, 'rb') as f:
infos = pickle.load(f)
waymo_infos.extend(infos)
seq_name_to_infos[infos[0]['point_cloud']['lidar_sequence']] = infos
self.infos.extend(waymo_infos[:])
self.logger.info('Total skipped info %s' % num_skipped_infos)
self.logger.info('Total samples for Waymo dataset: %d' % (len(waymo_infos)))
if self.dataset_cfg.SAMPLED_INTERVAL[mode] > 1:
sampled_waymo_infos = []
for k in range(0, len(self.infos), self.dataset_cfg.SAMPLED_INTERVAL[mode]):
sampled_waymo_infos.append(self.infos[k])
self.infos = sampled_waymo_infos
self.logger.info('Total sampled samples for Waymo dataset: %d' % len(self.infos))
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG',
None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if not use_sequence_data:
seq_name_to_infos = None
return seq_name_to_infos
def load_pred_boxes_to_dict(self, pred_boxes_path):
self.logger.info(f'Loading and reorganizing pred_boxes to dict from path: {pred_boxes_path}')
with open(pred_boxes_path, 'rb') as f:
pred_dicts = pickle.load(f)
pred_boxes_dict = {}
for index, box_dict in enumerate(pred_dicts):
seq_name = box_dict['frame_id'][:-4].replace('training_', '').replace('validation_', '')
sample_idx = int(box_dict['frame_id'][-3:])
if seq_name not in pred_boxes_dict:
pred_boxes_dict[seq_name] = {}
pred_labels = np.array(
[self.class_names.index(box_dict['name'][k]) + 1 for k in range(box_dict['name'].shape[0])])
pred_boxes = np.concatenate(
(box_dict['boxes_lidar'], box_dict['score'][:, np.newaxis], pred_labels[:, np.newaxis]), axis=-1)
pred_boxes_dict[seq_name][sample_idx] = pred_boxes
self.logger.info(f'Predicted boxes has been loaded, total sequences: {len(pred_boxes_dict)}')
return pred_boxes_dict
def load_data_to_shared_memory(self):
self.logger.info(f'Loading training data to shared memory (file limit={self.shared_memory_file_limit})')
cur_rank, num_gpus = common_utils.get_dist_info()
all_infos = self.infos[:self.shared_memory_file_limit] \
if self.shared_memory_file_limit < len(self.infos) else self.infos
cur_infos = all_infos[cur_rank::num_gpus]
for info in cur_infos:
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
sa_key = f'{sequence_name}___{sample_idx}'
if os.path.exists(f"/dev/shm/{sa_key}"):
continue
points = self.get_lidar(sequence_name, sample_idx)
common_utils.sa_create(f"shm://{sa_key}", points)
dist.barrier()
self.logger.info('Training data has been saved to shared memory')
def clean_shared_memory(self):
self.logger.info(f'Clean training data from shared memory (file limit={self.shared_memory_file_limit})')
cur_rank, num_gpus = common_utils.get_dist_info()
all_infos = self.infos[:self.shared_memory_file_limit] \
if self.shared_memory_file_limit < len(self.infos) else self.infos
cur_infos = all_infos[cur_rank::num_gpus]
for info in cur_infos:
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
sa_key = f'{sequence_name}___{sample_idx}'
if not os.path.exists(f"/dev/shm/{sa_key}"):
continue
SharedArray.delete(f"shm://{sa_key}")
if num_gpus > 1:
dist.barrier()
self.logger.info('Training data has been deleted from shared memory')
@staticmethod
def check_sequence_name_with_all_version(sequence_file):
if not sequence_file.exists():
found_sequence_file = sequence_file
for pre_text in ['training', 'validation', 'testing']:
if not sequence_file.exists():
temp_sequence_file = Path(str(sequence_file).replace('segment', pre_text + '_segment'))
if temp_sequence_file.exists():
found_sequence_file = temp_sequence_file
break
if not found_sequence_file.exists():
found_sequence_file = Path(str(sequence_file).replace('_with_camera_labels', ''))
if found_sequence_file.exists():
sequence_file = found_sequence_file
return sequence_file
def get_infos(self, raw_data_path, save_path, num_workers=multiprocessing.cpu_count(), has_label=True,
sampled_interval=1, update_info_only=False):
from . import waymo_utils
print('---------------The waymo sample interval is %d, total sequecnes is %d-----------------'
% (sampled_interval, len(self.sample_sequence_list)))
process_single_sequence = partial(
waymo_utils.process_single_sequence,
save_path=save_path, sampled_interval=sampled_interval, has_label=has_label,
update_info_only=update_info_only
)
sample_sequence_file_list = [
self.check_sequence_name_with_all_version(raw_data_path / sequence_file)
for sequence_file in self.sample_sequence_list
]
# process_single_sequence(sample_sequence_file_list[0])
# 读条
num_workers=1
with multiprocessing.Pool(num_workers) as p:
sequence_infos = list(tqdm(p.imap(process_single_sequence, sample_sequence_file_list),
total=len(sample_sequence_file_list)))
all_sequences_infos = [item for infos in sequence_infos for item in infos]
return all_sequences_infos
def get_lidar(self, sequence_name, sample_idx):
lidar_file = self.data_path / sequence_name / ('%04d.npy' % sample_idx)
point_features = np.load(lidar_file) # (N, 7): [x, y, z, intensity, elongation, NLZ_flag]
points_all, NLZ_flag = point_features[:, 0:5], point_features[:, 5]
if not self.dataset_cfg.get('DISABLE_NLZ_FLAG_ON_POINTS', False):
points_all = points_all[NLZ_flag == -1]
points_all[:, 3] = np.tanh(points_all[:, 3])
return points_all
@staticmethod
def transform_prebox_to_current(pred_boxes3d, pose_pre, pose_cur):
"""
Args:
pred_boxes3d (N, 9 or 11): [x, y, z, dx, dy, dz, raw, <vx, vy,> score, label]
pose_pre (4, 4):
pose_cur (4, 4):
Returns:
"""
assert pred_boxes3d.shape[-1] in [9, 11]
pred_boxes3d = pred_boxes3d.copy()
expand_bboxes = np.concatenate([pred_boxes3d[:, :3], np.ones((pred_boxes3d.shape[0], 1))], axis=-1)
bboxes_global = np.dot(expand_bboxes, pose_pre.T)[:, :3]
expand_bboxes_global = np.concatenate([bboxes_global[:, :3], np.ones((bboxes_global.shape[0], 1))], axis=-1)
bboxes_pre2cur = np.dot(expand_bboxes_global, np.linalg.inv(pose_cur.T))[:, :3]
pred_boxes3d[:, 0:3] = bboxes_pre2cur
if pred_boxes3d.shape[-1] == 11:
expand_vels = np.concatenate([pred_boxes3d[:, 7:9], np.zeros((pred_boxes3d.shape[0], 1))], axis=-1)
vels_global = np.dot(expand_vels, pose_pre[:3, :3].T)
vels_pre2cur = np.dot(vels_global, np.linalg.inv(pose_cur[:3, :3].T))[:, :2]
pred_boxes3d[:, 7:9] = vels_pre2cur
pred_boxes3d[:, 6] = pred_boxes3d[..., 6] + np.arctan2(pose_pre[..., 1, 0], pose_pre[..., 0, 0])
pred_boxes3d[:, 6] = pred_boxes3d[..., 6] - np.arctan2(pose_cur[..., 1, 0], pose_cur[..., 0, 0])
return pred_boxes3d
@staticmethod
def reorder_rois_for_refining(pred_bboxes):
num_max_rois = max([len(bbox) for bbox in pred_bboxes])
num_max_rois = max(1, num_max_rois) # at least one faked rois to avoid error
ordered_bboxes = np.zeros([len(pred_bboxes), num_max_rois, pred_bboxes[0].shape[-1]], dtype=np.float32)
for bs_idx in range(ordered_bboxes.shape[0]):
ordered_bboxes[bs_idx, :len(pred_bboxes[bs_idx])] = pred_bboxes[bs_idx]
return ordered_bboxes
def get_sequence_data(self, info, points, sequence_name, sample_idx, sequence_cfg, load_pred_boxes=False):
"""
Args:
info:
points:
sequence_name:
sample_idx:
sequence_cfg:
Returns:
"""
def remove_ego_points(points, center_radius=1.0):
mask = ~((np.abs(points[:, 0]) < center_radius) & (np.abs(points[:, 1]) < center_radius))
return points[mask]
def load_pred_boxes_from_dict(sequence_name, sample_idx):
"""
boxes: (N, 11) [x, y, z, dx, dy, dn, raw, vx, vy, score, label]
"""
sequence_name = sequence_name.replace('training_', '').replace('validation_', '')
load_boxes = self.pred_boxes_dict[sequence_name][sample_idx]
assert load_boxes.shape[-1] == 11
load_boxes[:, 7:9] = -0.1 * load_boxes[:, 7:9] # transfer speed to negtive motion from t to t-1
return load_boxes
pose_cur = info['pose'].reshape((4, 4))
num_pts_cur = points.shape[0]
sample_idx_pre_list = np.clip(
sample_idx + np.arange(sequence_cfg.SAMPLE_OFFSET[0], sequence_cfg.SAMPLE_OFFSET[1]), 0, 0x7FFFFFFF)
sample_idx_pre_list = sample_idx_pre_list[::-1]
if sequence_cfg.get('ONEHOT_TIMESTAMP', False):
onehot_cur = np.zeros((points.shape[0], len(sample_idx_pre_list) + 1)).astype(points.dtype)
onehot_cur[:, 0] = 1
points = np.hstack([points, onehot_cur])
else:
points = np.hstack([points, np.zeros((points.shape[0], 1)).astype(points.dtype)])
points_pre_all = []
num_points_pre = []
pose_all = [pose_cur]
pred_boxes_all = []
if load_pred_boxes:
pred_boxes = load_pred_boxes_from_dict(sequence_name, sample_idx)
pred_boxes_all.append(pred_boxes)
sequence_info = self.seq_name_to_infos[sequence_name]
for idx, sample_idx_pre in enumerate(sample_idx_pre_list):
points_pre = self.get_lidar(sequence_name, sample_idx_pre)
pose_pre = sequence_info[sample_idx_pre]['pose'].reshape((4, 4))
expand_points_pre = np.concatenate([points_pre[:, :3], np.ones((points_pre.shape[0], 1))], axis=-1)
points_pre_global = np.dot(expand_points_pre, pose_pre.T)[:, :3]
expand_points_pre_global = np.concatenate([points_pre_global, np.ones((points_pre_global.shape[0], 1))],
axis=-1)
points_pre2cur = np.dot(expand_points_pre_global, np.linalg.inv(pose_cur.T))[:, :3]
points_pre = np.concatenate([points_pre2cur, points_pre[:, 3:]], axis=-1)
if sequence_cfg.get('ONEHOT_TIMESTAMP', False):
onehot_vector = np.zeros((points_pre.shape[0], len(sample_idx_pre_list) + 1))
onehot_vector[:, idx + 1] = 1
points_pre = np.hstack([points_pre, onehot_vector])
else:
# add timestamp
points_pre = np.hstack([points_pre,
0.1 * (sample_idx - sample_idx_pre) * np.ones((points_pre.shape[0], 1)).astype(
points_pre.dtype)]) # one frame 0.1s
points_pre = remove_ego_points(points_pre, 1.0)
points_pre_all.append(points_pre)
num_points_pre.append(points_pre.shape[0])
pose_all.append(pose_pre)
if load_pred_boxes:
pose_pre = sequence_info[sample_idx_pre]['pose'].reshape((4, 4))
pred_boxes = load_pred_boxes_from_dict(sequence_name, sample_idx_pre)
pred_boxes = self.transform_prebox_to_current(pred_boxes, pose_pre, pose_cur)
pred_boxes_all.append(pred_boxes)
points = np.concatenate([points] + points_pre_all, axis=0).astype(np.float32)
num_points_all = np.array([num_pts_cur] + num_points_pre).astype(np.int32)
poses = np.concatenate(pose_all, axis=0).astype(np.float32)
if load_pred_boxes:
temp_pred_boxes = self.reorder_rois_for_refining(pred_boxes_all)
pred_boxes = temp_pred_boxes[:, :, 0:9]
pred_scores = temp_pred_boxes[:, :, 9]
pred_labels = temp_pred_boxes[:, :, 10]
else:
pred_boxes = pred_scores = pred_labels = None
return points, num_points_all, sample_idx_pre_list, poses, pred_boxes, pred_scores, pred_labels
def __len__(self):
if self._merge_all_iters_to_one_epoch:
return len(self.infos) * self.total_epochs
return len(self.infos)
def __getitem__(self, index):
if self._merge_all_iters_to_one_epoch:
index = index % len(self.infos)
info = copy.deepcopy(self.infos[index])
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
input_dict = {
'sample_idx': sample_idx
}
if self.use_shared_memory and index < self.shared_memory_file_limit:
sa_key = f'{sequence_name}___{sample_idx}'
points = SharedArray.attach(f"shm://{sa_key}").copy()
else:
points = self.get_lidar(sequence_name, sample_idx)
if self.dataset_cfg.get('SEQUENCE_CONFIG', None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED:
points, num_points_all, sample_idx_pre_list, poses, pred_boxes, pred_scores, pred_labels = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG,
load_pred_boxes=self.dataset_cfg.get('USE_PREDBOX', False)
)
input_dict['poses'] = poses
if self.dataset_cfg.get('USE_PREDBOX', False):
input_dict.update({
'roi_boxes': pred_boxes,
'roi_scores': pred_scores,
'roi_labels': pred_labels,
})
input_dict.update({
'points': points,
'frame_id': info['frame_id'],
})
if 'annos' in info:
annos = info['annos']
annos = common_utils.drop_info_with_name(annos, name='unknown')
if self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False):
gt_boxes_lidar = box_utils.boxes3d_kitti_fakelidar_to_lidar(annos['gt_boxes_lidar'])
else:
gt_boxes_lidar = annos['gt_boxes_lidar']
if self.dataset_cfg.get('TRAIN_WITH_SPEED', False):
assert gt_boxes_lidar.shape[-1] == 9
else:
gt_boxes_lidar = gt_boxes_lidar[:, 0:7]
if self.training and self.dataset_cfg.get('FILTER_EMPTY_BOXES_FOR_TRAIN', False):
mask = (annos['num_points_in_gt'] > 0) # filter empty boxes
annos['name'] = annos['name'][mask]
gt_boxes_lidar = gt_boxes_lidar[mask]
annos['num_points_in_gt'] = annos['num_points_in_gt'][mask]
input_dict.update({
'gt_names': annos['name'],
'gt_boxes': gt_boxes_lidar,
'num_points_in_gt': annos.get('num_points_in_gt', None)
})
data_dict = self.prepare_data(data_dict=input_dict)
data_dict['metadata'] = info.get('metadata', info['frame_id'])
data_dict.pop('num_points_in_gt', None)
return data_dict
def evaluation(self, det_annos, class_names, **kwargs):
if 'annos' not in self.infos[0].keys():
return 'No ground-truth boxes for evaluation', {}
def kitti_eval(eval_det_annos, eval_gt_annos):
from ..kitti.kitti_object_eval_python import eval as kitti_eval
from ..kitti import kitti_utils
map_name_to_kitti = {
'Vehicle': 'Car',
'Pedestrian': 'Pedestrian',
'Cyclist': 'Cyclist',
'Sign': 'Sign',
'Car': 'Car'
}
kitti_utils.transform_annotations_to_kitti_format(eval_det_annos, map_name_to_kitti=map_name_to_kitti)
kitti_utils.transform_annotations_to_kitti_format(
eval_gt_annos, map_name_to_kitti=map_name_to_kitti,
info_with_fakelidar=self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False)
)
kitti_class_names = [map_name_to_kitti[x] for x in class_names]
ap_result_str, ap_dict = kitti_eval.get_official_eval_result(
gt_annos=eval_gt_annos, dt_annos=eval_det_annos, current_classes=kitti_class_names
)
return ap_result_str, ap_dict
def waymo_eval(eval_det_annos, eval_gt_annos):
from .waymo_eval import OpenPCDetWaymoDetectionMetricsEstimator
eval = OpenPCDetWaymoDetectionMetricsEstimator()
ap_dict = eval.waymo_evaluation(
eval_det_annos, eval_gt_annos, class_name=class_names,
distance_thresh=1000, fake_gt_infos=self.dataset_cfg.get('INFO_WITH_FAKELIDAR', False)
)
ap_result_str = '\n'
for key in ap_dict:
ap_dict[key] = ap_dict[key][0]
ap_result_str += '%s: %.4f \n' % (key, ap_dict[key])
return ap_result_str, ap_dict
eval_det_annos = copy.deepcopy(det_annos)
eval_gt_annos = [copy.deepcopy(info['annos']) for info in self.infos]
if kwargs['eval_metric'] == 'kitti':
ap_result_str, ap_dict = kitti_eval(eval_det_annos, eval_gt_annos)
elif kwargs['eval_metric'] == 'waymo':
ap_result_str, ap_dict = waymo_eval(eval_det_annos, eval_gt_annos)
else:
raise NotImplementedError
return ap_result_str, ap_dict
def create_groundtruth_database(self, info_path, save_path, used_classes=None, split='train', sampled_interval=10,
processed_data_tag=None):
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG',
None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if use_sequence_data:
st_frame, ed_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0], \
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[1]
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0] = min(-4,
st_frame) # at least we use 5 frames for generating gt database to support various sequence configs (<= 5 frames)
st_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0]
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s' % (
processed_data_tag, split, sampled_interval, st_frame, ed_frame))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d_multiframe_%s_to_%s.pkl' % (
processed_data_tag, split, sampled_interval, st_frame, ed_frame))
db_data_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s_global.npy' % (
processed_data_tag, split, sampled_interval, st_frame, ed_frame))
else:
database_save_path = save_path / (
'%s_gt_database_%s_sampled_%d' % (processed_data_tag, split, sampled_interval))
db_info_save_path = save_path / (
'%s_waymo_dbinfos_%s_sampled_%d.pkl' % (processed_data_tag, split, sampled_interval))
db_data_save_path = save_path / (
'%s_gt_database_%s_sampled_%d_global.npy' % (processed_data_tag, split, sampled_interval))
database_save_path.mkdir(parents=True, exist_ok=True)
all_db_infos = {}
with open(info_path, 'rb') as f:
infos = pickle.load(f)
point_offset_cnt = 0
stacked_gt_points = []
for k in tqdm(range(0, len(infos), sampled_interval)):
# print('gt_database sample: %d/%d' % (k + 1, len(infos)))
info = infos[k]
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
points = self.get_lidar(sequence_name, sample_idx)
if use_sequence_data:
points, num_points_all, sample_idx_pre_list, _, _, _, _ = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG
)
annos = info['annos']
names = annos['name']
difficulty = annos['difficulty']
gt_boxes = annos['gt_boxes_lidar']
if k % 4 != 0 and len(names) > 0:
mask = (names == 'Vehicle')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
if k % 2 != 0 and len(names) > 0:
mask = (names == 'Pedestrian')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
num_obj = gt_boxes.shape[0]
if num_obj == 0:
continue
box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(
torch.from_numpy(points[:, 0:3]).unsqueeze(dim=0).float().cuda(),
torch.from_numpy(gt_boxes[:, 0:7]).unsqueeze(dim=0).float().cuda()
).long().squeeze(dim=0).cpu().numpy()
for i in range(num_obj):
filename = '%s_%04d_%s_%d.bin' % (sequence_name, sample_idx, names[i], i)
filepath = database_save_path / filename
gt_points = points[box_idxs_of_pts == i]
gt_points[:, :3] -= gt_boxes[i, :3]
if (used_classes is None) or names[i] in used_classes:
gt_points = gt_points.astype(np.float32)
assert gt_points.dtype == np.float32
with open(filepath, 'w') as f:
gt_points.tofile(f)
db_path = str(filepath.relative_to(self.root_path)) # gt_database/xxxxx.bin
db_info = {'name': names[i], 'path': db_path, 'sequence_name': sequence_name,
'sample_idx': sample_idx, 'gt_idx': i, 'box3d_lidar': gt_boxes[i],
'num_points_in_gt': gt_points.shape[0], 'difficulty': difficulty[i]}
# it will be used if you choose to use shared memory for gt sampling
stacked_gt_points.append(gt_points)
db_info['global_data_offset'] = [point_offset_cnt, point_offset_cnt + gt_points.shape[0]]
point_offset_cnt += gt_points.shape[0]
if names[i] in all_db_infos:
all_db_infos[names[i]].append(db_info)
else:
all_db_infos[names[i]] = [db_info]
for k, v in all_db_infos.items():
print('Database %s: %d' % (k, len(v)))
with open(db_info_save_path, 'wb') as f:
pickle.dump(all_db_infos, f)
# it will be used if you choose to use shared memory for gt sampling
stacked_gt_points = np.concatenate(stacked_gt_points, axis=0)
np.save(db_data_save_path, stacked_gt_points)
def create_gt_database_of_single_scene(self, info_with_idx, database_save_path=None, use_sequence_data=False,
used_classes=None,
total_samples=0, use_cuda=False, crop_gt_with_tail=False):
info, info_idx = info_with_idx
print('gt_database sample: %d/%d' % (info_idx, total_samples))
all_db_infos = {}
pc_info = info['point_cloud']
sequence_name = pc_info['lidar_sequence']
sample_idx = pc_info['sample_idx']
points = self.get_lidar(sequence_name, sample_idx)
if use_sequence_data:
points, num_points_all, sample_idx_pre_list, _, _, _, _ = self.get_sequence_data(
info, points, sequence_name, sample_idx, self.dataset_cfg.SEQUENCE_CONFIG
)
annos = info['annos']
names = annos['name']
difficulty = annos['difficulty']
gt_boxes = annos['gt_boxes_lidar']
if info_idx % 4 != 0 and len(names) > 0:
mask = (names == 'Vehicle')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
if info_idx % 2 != 0 and len(names) > 0:
mask = (names == 'Pedestrian')
names = names[~mask]
difficulty = difficulty[~mask]
gt_boxes = gt_boxes[~mask]
num_obj = gt_boxes.shape[0]
if num_obj == 0:
return {}
if use_sequence_data and crop_gt_with_tail:
assert gt_boxes.shape[1] == 9
speed = gt_boxes[:, 7:9]
sequence_cfg = self.dataset_cfg.SEQUENCE_CONFIG
assert sequence_cfg.SAMPLE_OFFSET[1] == 0
assert sequence_cfg.SAMPLE_OFFSET[0] < 0
num_frames = sequence_cfg.SAMPLE_OFFSET[1] - sequence_cfg.SAMPLE_OFFSET[0] + 1
assert num_frames > 1
latest_center = gt_boxes[:, 0:2]
oldest_center = latest_center - speed * (num_frames - 1) * 0.1
new_center = (latest_center + oldest_center) * 0.5
new_length = gt_boxes[:, 3] + np.linalg.norm(latest_center - oldest_center, axis=-1)
gt_boxes_crop = gt_boxes.copy()
gt_boxes_crop[:, 0:2] = new_center
gt_boxes_crop[:, 3] = new_length
else:
gt_boxes_crop = gt_boxes
if use_cuda:
box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(
torch.from_numpy(points[:, 0:3]).unsqueeze(dim=0).float().cuda(),
torch.from_numpy(gt_boxes_crop[:, 0:7]).unsqueeze(dim=0).float().cuda()
).long().squeeze(dim=0).cpu().numpy()
else:
box_point_mask = roiaware_pool3d_utils.points_in_boxes_cpu(
torch.from_numpy(points[:, 0:3]).float(),
torch.from_numpy(gt_boxes_crop[:, 0:7]).float()
).long().numpy() # (num_boxes, num_points)
for i in range(num_obj):
filename = '%s_%04d_%s_%d.bin' % (sequence_name, sample_idx, names[i], i)
filepath = database_save_path / filename
if use_cuda:
gt_points = points[box_idxs_of_pts == i]
else:
gt_points = points[box_point_mask[i] > 0]
gt_points[:, :3] -= gt_boxes[i, :3]
if (used_classes is None) or names[i] in used_classes:
gt_points = gt_points.astype(np.float32)
assert gt_points.dtype == np.float32
with open(filepath, 'w') as f:
gt_points.tofile(f)
db_path = str(filepath.relative_to(self.root_path)) # gt_database/xxxxx.bin
db_info = {'name': names[i], 'path': db_path, 'sequence_name': sequence_name,
'sample_idx': sample_idx, 'gt_idx': i, 'box3d_lidar': gt_boxes[i],
'num_points_in_gt': gt_points.shape[0], 'difficulty': difficulty[i],
'box3d_crop': gt_boxes_crop[i]}
if names[i] in all_db_infos:
all_db_infos[names[i]].append(db_info)
else:
all_db_infos[names[i]] = [db_info]
return all_db_infos
def create_groundtruth_database_parallel(self, info_path, save_path, used_classes=None, split='train',
sampled_interval=10,
processed_data_tag=None, num_workers=16, crop_gt_with_tail=False):
use_sequence_data = self.dataset_cfg.get('SEQUENCE_CONFIG',
None) is not None and self.dataset_cfg.SEQUENCE_CONFIG.ENABLED
if use_sequence_data:
st_frame, ed_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0], \
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[1]
self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0] = min(-4,
st_frame) # at least we use 5 frames for generating gt database to support various sequence configs (<= 5 frames)
st_frame = self.dataset_cfg.SEQUENCE_CONFIG.SAMPLE_OFFSET[0]
database_save_path = save_path / ('%s_gt_database_%s_sampled_%d_multiframe_%s_to_%s_%sparallel' % (
processed_data_tag, split, sampled_interval, st_frame, ed_frame, 'tail_' if crop_gt_with_tail else ''))
db_info_save_path = save_path / ('%s_waymo_dbinfos_%s_sampled_%d_multiframe_%s_to_%s_%sparallel.pkl' % (
processed_data_tag, split, sampled_interval, st_frame, ed_frame, 'tail_' if crop_gt_with_tail else ''))
else:
database_save_path = save_path / (
'%s_gt_database_%s_sampled_%d_parallel' % (processed_data_tag, split, sampled_interval))
db_info_save_path = save_path / (
'%s_waymo_dbinfos_%s_sampled_%d_parallel.pkl' % (processed_data_tag, split, sampled_interval))
database_save_path.mkdir(parents=True, exist_ok=True)
with open(info_path, 'rb') as f:
infos = pickle.load(f)
print(f'Number workers: {num_workers}')
create_gt_database_of_single_scene = partial(
self.create_gt_database_of_single_scene,
use_sequence_data=use_sequence_data, database_save_path=database_save_path,
used_classes=used_classes, total_samples=len(infos), use_cuda=False,
crop_gt_with_tail=crop_gt_with_tail
)
# create_gt_database_of_single_scene((infos[300], 0))
with multiprocessing.Pool(num_workers) as p:
all_db_infos_list = list(p.map(create_gt_database_of_single_scene, zip(infos, np.arange(len(infos)))))
all_db_infos = {}
for cur_db_infos in all_db_infos_list:
for key, val in cur_db_infos.items():
if key not in all_db_infos:
all_db_infos[key] = val
else:
all_db_infos[key].extend(val)
for k, v in all_db_infos.items():
print('Database %s: %d' % (k, len(v)))
with open(db_info_save_path, 'wb') as f:
pickle.dump(all_db_infos, f)
def create_waymo_infos(dataset_cfg, class_names, data_path, save_path,
raw_data_tag='raw_data', processed_data_tag='waymo_processed_data',
workers=min(16, multiprocessing.cpu_count()), update_info_only=False):
dataset = WaymoDataset(
dataset_cfg=dataset_cfg, class_names=class_names, root_path=data_path,
training=False, logger=common_utils.create_logger()
)
train_split, val_split = 'train', 'val'
train_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, train_split))
val_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, val_split))
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
print('---------------Start to generate data infos---------------')
dataset.set_split(train_split)
waymo_infos_train = dataset.get_infos(
raw_data_path=data_path / raw_data_tag,
save_path=save_path / processed_data_tag, num_workers=workers, has_label=True,
sampled_interval=1, update_info_only=update_info_only
)
with open(train_filename, 'wb') as f:
pickle.dump(waymo_infos_train, f)
print('----------------Waymo info train file is saved to %s----------------' % train_filename)
dataset.set_split(val_split)
waymo_infos_val = dataset.get_infos(
raw_data_path=data_path / raw_data_tag,
save_path=save_path / processed_data_tag, num_workers=workers, has_label=True,
sampled_interval=1, update_info_only=update_info_only
)
with open(val_filename, 'wb') as f:
pickle.dump(waymo_infos_val, f)
print('----------------Waymo info val file is saved to %s----------------' % val_filename)
if update_info_only:
return
print('---------------Start create groundtruth database for data augmentation---------------')
os.environ["CUDA_VISIBLE_DEVICES"] = "0"
dataset.set_split(train_split)
dataset.create_groundtruth_database(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag
)
print('---------------Data preparation Done---------------')
def create_waymo_gt_database(
dataset_cfg, class_names, data_path, save_path, processed_data_tag='waymo_processed_data',
workers=min(16, multiprocessing.cpu_count()), use_parallel=False, crop_gt_with_tail=False):
dataset = WaymoDataset(
dataset_cfg=dataset_cfg, class_names=class_names, root_path=data_path,
training=False, logger=common_utils.create_logger()
)
train_split = 'train'
train_filename = save_path / ('%s_infos_%s.pkl' % (processed_data_tag, train_split))
print('---------------Start create groundtruth database for data augmentation---------------')
dataset.set_split(train_split)
# print("train_split:")
# print(train_split)
if use_parallel:
dataset.create_groundtruth_database_parallel(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag,
num_workers=workers, crop_gt_with_tail=crop_gt_with_tail
)
else:
dataset.create_groundtruth_database(
info_path=train_filename, save_path=save_path, split='train', sampled_interval=1,
used_classes=['Vehicle', 'Pedestrian', 'Cyclist'], processed_data_tag=processed_data_tag
)
print('---------------Data preparation Done---------------')
if __name__ == '__main__':
import argparse
import yaml
from easydict import EasyDict
parser = argparse.ArgumentParser(description='arg parser')
parser.add_argument('--cfg_file', type=str, default=None, help='specify the config of dataset')
parser.add_argument('--func', type=str, default='create_waymo_infos', help='')
parser.add_argument('--processed_data_tag', type=str, default='waymo_processed_data_v0_5_0', help='')
parser.add_argument('--update_info_only', action='store_true', default=False, help='')
parser.add_argument('--use_parallel', action='store_true', default=False, help='')
parser.add_argument('--wo_crop_gt_with_tail', action='store_true', default=False, help='')
parser.add_argument('--data_path', default=None, help='')
args = parser.parse_args()
if args.data_path is not None:
ROOT_DIR = (Path(args.data_path)).resolve()
else:
ROOT_DIR = (Path(__file__).resolve().parent / '../../../').resolve() / 'data' / 'waymo'
# ROOT_DIR = (Path(self.dataset_cfg.DATA_PATH)).resolve()
if args.func == 'create_waymo_infos':
try:
yaml_config = yaml.safe_load(open(args.cfg_file), Loader=yaml.FullLoader)
except:
yaml_config = yaml.safe_load(open(args.cfg_file))
dataset_cfg = EasyDict(yaml_config)
dataset_cfg.PROCESSED_DATA_TAG = args.processed_data_tag
create_waymo_infos(
dataset_cfg=dataset_cfg,
class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
data_path=ROOT_DIR,
save_path=ROOT_DIR,
raw_data_tag='raw_data',
processed_data_tag=args.processed_data_tag,
update_info_only=args.update_info_only
)
elif args.func == 'create_waymo_gt_database':
try:
yaml_config = yaml.safe_load(open(args.cfg_file), Loader=yaml.FullLoader)
except:
yaml_config = yaml.safe_load(open(args.cfg_file))
dataset_cfg = EasyDict(yaml_config)
dataset_cfg.PROCESSED_DATA_TAG = args.processed_data_tag
create_waymo_gt_database(
dataset_cfg=dataset_cfg,
class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
data_path=ROOT_DIR,
save_path=ROOT_DIR,
processed_data_tag=args.processed_data_tag,
use_parallel=args.use_parallel,
crop_gt_with_tail=not args.wo_crop_gt_with_tail
)
else:
raise NotImplementedError/OpenPCDet-master/pcdet/datasets/waymo/waymo_utils.py:
# OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import os
import shutil
import pickle
import numpy as np
from ...utils import common_utils
import tensorflow as tf
from waymo_open_dataset.utils import frame_utils, transform_utils, range_image_utils
from waymo_open_dataset import dataset_pb2
try:
tf.enable_eager_execution()
except:
pass
WAYMO_CLASSES = ['unknown', 'Vehicle', 'Pedestrian', 'Sign', 'Cyclist']
def generate_labels(frame, pose):
obj_name, difficulty, dimensions, locations, heading_angles = [], [], [], [], []
tracking_difficulty, speeds, accelerations, obj_ids = [], [], [], []
num_points_in_gt = []
laser_labels = frame.laser_labels
for i in range(len(laser_labels)):
box = laser_labels[i].box
class_ind = laser_labels[i].type
loc = [box.center_x, box.center_y, box.center_z]
heading_angles.append(box.heading)
obj_name.append(WAYMO_CLASSES[class_ind])
difficulty.append(laser_labels[i].detection_difficulty_level)
tracking_difficulty.append(laser_labels[i].tracking_difficulty_level)
dimensions.append([box.length, box.width, box.height]) # lwh in unified coordinate of OpenPCDet
locations.append(loc)
obj_ids.append(laser_labels[i].id)
num_points_in_gt.append(laser_labels[i].num_lidar_points_in_box)
speeds.append([laser_labels[i].metadata.speed_x, laser_labels[i].metadata.speed_y])
accelerations.append([laser_labels[i].metadata.accel_x, laser_labels[i].metadata.accel_y])
annotations = {}
annotations['name'] = np.array(obj_name)
annotations['difficulty'] = np.array(difficulty)
annotations['dimensions'] = np.array(dimensions)
annotations['location'] = np.array(locations)
annotations['heading_angles'] = np.array(heading_angles)
annotations['obj_ids'] = np.array(obj_ids)
annotations['tracking_difficulty'] = np.array(tracking_difficulty)
annotations['num_points_in_gt'] = np.array(num_points_in_gt)
annotations['speed_global'] = np.array(speeds)
annotations['accel_global'] = np.array(accelerations)
annotations = common_utils.drop_info_with_name(annotations, name='unknown')
if annotations['name'].__len__() > 0:
global_speed = np.pad(annotations['speed_global'], ((0, 0), (0, 1)), mode='constant', constant_values=0) # (N, 3)
speed = np.dot(global_speed, np.linalg.inv(pose[:3, :3].T))
speed = speed[:, :2]
gt_boxes_lidar = np.concatenate([
annotations['location'], annotations['dimensions'], annotations['heading_angles'][..., np.newaxis], speed],
axis=1
)
else:
gt_boxes_lidar = np.zeros((0, 9))
annotations['gt_boxes_lidar'] = gt_boxes_lidar
return annotations
def convert_range_image_to_point_cloud(frame, range_images, camera_projections, range_image_top_pose, ri_index=(0, 1)):
"""
Modified from the codes of Waymo Open Dataset.
Convert range images to point cloud.
Args:
frame: open dataset frame
range_images: A dict of {laser_name, [range_image_first_return, range_image_second_return]}.
camera_projections: A dict of {laser_name,
[camera_projection_from_first_return, camera_projection_from_second_return]}.
range_image_top_pose: range image pixel pose for top lidar.
ri_index: 0 for the first return, 1 for the second return.
Returns:
points: {[N, 3]} list of 3d lidar points of length 5 (number of lidars).
cp_points: {[N, 6]} list of camera projections of length 5 (number of lidars).
"""
calibrations = sorted(frame.context.laser_calibrations, key=lambda c: c.name)
points = []
cp_points = []
points_NLZ = []
points_intensity = []
points_elongation = []
frame_pose = tf.convert_to_tensor(np.reshape(np.array(frame.pose.transform), [4, 4]))
# [H, W, 6]
range_image_top_pose_tensor = tf.reshape(
tf.convert_to_tensor(range_image_top_pose.data), range_image_top_pose.shape.dims
)
# [H, W, 3, 3]
range_image_top_pose_tensor_rotation = transform_utils.get_rotation_matrix(
range_image_top_pose_tensor[..., 0], range_image_top_pose_tensor[..., 1],
range_image_top_pose_tensor[..., 2])
range_image_top_pose_tensor_translation = range_image_top_pose_tensor[..., 3:]
range_image_top_pose_tensor = transform_utils.get_transform(
range_image_top_pose_tensor_rotation,
range_image_top_pose_tensor_translation)
for c in calibrations:
points_single, cp_points_single, points_NLZ_single, points_intensity_single, points_elongation_single \
= [], [], [], [], []
for cur_ri_index in ri_index:
range_image = range_images[c.name][cur_ri_index]
if len(c.beam_inclinations) == 0: # pylint: disable=g-explicit-length-test
beam_inclinations = range_image_utils.compute_inclination(
tf.constant([c.beam_inclination_min, c.beam_inclination_max]),
height=range_image.shape.dims[0])
else:
beam_inclinations = tf.constant(c.beam_inclinations)
beam_inclinations = tf.reverse(beam_inclinations, axis=[-1])
extrinsic = np.reshape(np.array(c.extrinsic.transform), [4, 4])
range_image_tensor = tf.reshape(
tf.convert_to_tensor(range_image.data), range_image.shape.dims)
pixel_pose_local = None
frame_pose_local = None
if c.name == dataset_pb2.LaserName.TOP:
pixel_pose_local = range_image_top_pose_tensor
pixel_pose_local = tf.expand_dims(pixel_pose_local, axis=0)
frame_pose_local = tf.expand_dims(frame_pose, axis=0)
range_image_mask = range_image_tensor[..., 0] > 0
range_image_NLZ = range_image_tensor[..., 3]
range_image_intensity = range_image_tensor[..., 1]
range_image_elongation = range_image_tensor[..., 2]
range_image_cartesian = range_image_utils.extract_point_cloud_from_range_image(
tf.expand_dims(range_image_tensor[..., 0], axis=0),
tf.expand_dims(extrinsic, axis=0),
tf.expand_dims(tf.convert_to_tensor(beam_inclinations), axis=0),
pixel_pose=pixel_pose_local,
frame_pose=frame_pose_local)
range_image_cartesian = tf.squeeze(range_image_cartesian, axis=0)
points_tensor = tf.gather_nd(range_image_cartesian,
tf.where(range_image_mask))
points_NLZ_tensor = tf.gather_nd(range_image_NLZ, tf.compat.v1.where(range_image_mask))
points_intensity_tensor = tf.gather_nd(range_image_intensity, tf.compat.v1.where(range_image_mask))
points_elongation_tensor = tf.gather_nd(range_image_elongation, tf.compat.v1.where(range_image_mask))
cp = camera_projections[c.name][0]
cp_tensor = tf.reshape(tf.convert_to_tensor(cp.data), cp.shape.dims)
cp_points_tensor = tf.gather_nd(cp_tensor, tf.where(range_image_mask))
points_single.append(points_tensor.numpy())
cp_points_single.append(cp_points_tensor.numpy())
points_NLZ_single.append(points_NLZ_tensor.numpy())
points_intensity_single.append(points_intensity_tensor.numpy())
points_elongation_single.append(points_elongation_tensor.numpy())
points.append(np.concatenate(points_single, axis=0))
cp_points.append(np.concatenate(cp_points_single, axis=0))
points_NLZ.append(np.concatenate(points_NLZ_single, axis=0))
points_intensity.append(np.concatenate(points_intensity_single, axis=0))
points_elongation.append(np.concatenate(points_elongation_single, axis=0))
return points, cp_points, points_NLZ, points_intensity, points_elongation
def save_lidar_points(frame, cur_save_path, use_two_returns=True):
ret_outputs = frame_utils.parse_range_image_and_camera_projection(frame)
if len(ret_outputs) == 4:
range_images, camera_projections, seg_labels, range_image_top_pose = ret_outputs
else:
assert len(ret_outputs) == 3
range_images, camera_projections, range_image_top_pose = ret_outputs
points, cp_points, points_in_NLZ_flag, points_intensity, points_elongation = convert_range_image_to_point_cloud(
frame, range_images, camera_projections, range_image_top_pose, ri_index=(0, 1) if use_two_returns else (0,)
)
# 3d points in vehicle frame.
points_all = np.concatenate(points, axis=0)
points_in_NLZ_flag = np.concatenate(points_in_NLZ_flag, axis=0).reshape(-1, 1)
points_intensity = np.concatenate(points_intensity, axis=0).reshape(-1, 1)
points_elongation = np.concatenate(points_elongation, axis=0).reshape(-1, 1)
num_points_of_each_lidar = [point.shape[0] for point in points]
save_points = np.concatenate([
points_all, points_intensity, points_elongation, points_in_NLZ_flag
], axis=-1).astype(np.float32)
np.save(cur_save_path, save_points)
# print('saving to ', cur_save_path)
return num_points_of_each_lidar
def process_single_sequence(sequence_file, save_path, sampled_interval, has_label=True, use_two_returns=True, update_info_only=False):
sequence_name = os.path.splitext(os.path.basename(sequence_file))[0]
# print('Load record (sampled_interval=%d): %s' % (sampled_interval, sequence_name))
if not sequence_file.exists():
print('NotFoundError: %s' % sequence_file)
return []
dataset = tf.data.TFRecordDataset(str(sequence_file), compression_type='')
cur_save_dir = save_path / sequence_name
cur_save_dir.mkdir(parents=True, exist_ok=True)
pkl_file = cur_save_dir / ('%s.pkl' % sequence_name)
sequence_infos = []
if pkl_file.exists():
sequence_infos = pickle.load(open(pkl_file, 'rb'))
sequence_infos_old = None
if not update_info_only:
print('Skip sequence since it has been processed before: %s' % pkl_file)
return sequence_infos
else:
sequence_infos_old = sequence_infos
sequence_infos = []
# shutil.move(pkl_file, pkl_file + '/1')
print("##########################sequence_file#############################")
print(sequence_file)
for cnt, data in enumerate(dataset):
if cnt % sampled_interval != 0:
continue
# print(sequence_name, cnt)
frame = dataset_pb2.Frame()
frame.ParseFromString(bytearray(data.numpy()))
info = {}
pc_info = {'num_features': 5, 'lidar_sequence': sequence_name, 'sample_idx': cnt}
info['point_cloud'] = pc_info
info['frame_id'] = sequence_name + ('_%03d' % cnt)
info['metadata'] = {
'context_name': frame.context.name,
'timestamp_micros': frame.timestamp_micros
}
image_info = {}
for j in range(5):
width = frame.context.camera_calibrations[j].width
height = frame.context.camera_calibrations[j].height
image_info.update({'image_shape_%d' % j: (height, width)})
info['image'] = image_info
pose = np.array(frame.pose.transform, dtype=np.float32).reshape(4, 4)
info['pose'] = pose
if has_label:
annotations = generate_labels(frame, pose=pose)
info['annos'] = annotations
if update_info_only and sequence_infos_old is not None:
assert info['frame_id'] == sequence_infos_old[cnt]['frame_id']
num_points_of_each_lidar = sequence_infos_old[cnt]['num_points_of_each_lidar']
else:
num_points_of_each_lidar = save_lidar_points(
frame, cur_save_dir / ('%04d.npy' % cnt), use_two_returns=use_two_returns
)
info['num_points_of_each_lidar'] = num_points_of_each_lidar
sequence_infos.append(info)
with open(pkl_file, 'wb') as f:
pickle.dump(sequence_infos, f)
print('Infos are saved to (sampled_interval=%d): %s' % (sampled_interval, pkl_file))
return sequence_infos