Argoverse2 Dataset Implementation

.gitignore

@@ -4,9 +4,15 @@ __pycache__/
 
 logs/
 outputs/
-
 .ipynb_checkpoints
 .vscode
 .idea
 wandb
 outputs
+
+# Slurm Batch Script files
+*.out
+*.err
+
+# output visualizations
+*.gif

config/config.yaml

@@ -39,6 +39,7 @@ scheduler:
 
 # lightning trainer
 trainer:
+  max_epochs: 10
   max_steps: 30001
   log_every_n_steps: 50
 

config/data/argoverse2.yaml

@@ -0,0 +1,31 @@
+dataset: 'argoverse2_generated'                   # do not modify :)
+num_classes: 11                        # do not modify :)
+
+# used to get_split
+version: 'trainval'                # 'mini' or 'trainval'
+dataset_dir: /srv/datasets/argoverse2/sensor
+labels_dir: /srv/share2/apatni30/cvt_labels_argoverse2
+
+# used to generate dataset
+cameras: [[0, 1, 2, 3, 4, 5, 6]]
+
+# required for train/eval
+# Takes the form [[i, j, ...], [p, q, ...]]
+# where [i, j, ...] are indices of individual classes (car, truck, ...),
+# and will be grouped into one semantic class (vehicle).
+label_indices: null                                   
+
+# label parameters
+bev:
+  h: 200
+  w: 200
+  h_meters: 100.0
+  w_meters: 100.0
+  offset: 0.0
+
+# input parameters (not used in label generation)
+augment: 'none'
+image:
+  h: 224
+  w: 480
+  top_crop: 46

config/data/argoverse2_road.yaml

@@ -0,0 +1,7 @@
+# @package _global_
+defaults:
+  - /data/argoverse2
+  - /visualization/nuscenes_viz
+
+data:
+  label_indices: [[1,2]] 

config/data/argoverse2_vehicle.yaml

@@ -0,0 +1,7 @@
+# @package _global_
+defaults:
+  - /data/argoverse2
+  - /visualization/nuscenes_viz
+
+data:
+  label_indices: [[3,4,5,6,9]]

config/data/nuscenes.yaml

@@ -3,8 +3,9 @@ num_classes: 12                         # do not modify :)
 
 # used to get_split
 version: 'v1.0-trainval'                # 'v1.0-mini' for debugging
-dataset_dir: ???
-labels_dir: ???
+# dataset_dir: /srv/share/datasets/nuScenes-v1.0
+dataset_dir: /srv/share/datasets/nuScenes-v1.0
+labels_dir: /srv/share2/apatni30/cvt_labels_nusclenes_bad
 
 # used to generate dataset
 cameras: [[0, 1, 2, 3, 4, 5]]

config/experiment/cvt_argoverse2_vehicle.yaml

@@ -0,0 +1,12 @@
+# @package _global_
+defaults:
+  - override /model: cvt
+  - override /data: argoverse2_vehicle
+
+  - override /loss: center_loss
+  - override /metrics: visibility_metrics
+
+model:
+  outputs:
+    bev: [0, 1]
+    center: [1, 2]

cross_view_transformer/data/__init__.py

@@ -1,10 +1,13 @@
 from . import nuscenes_dataset
 from . import nuscenes_dataset_generated
-
+from . import argoverse2_dataset
+from . import argoverse2_dataset_generated
 
 MODULES = {
     'nuscenes': nuscenes_dataset,
     'nuscenes_generated': nuscenes_dataset_generated,
+    'argoverse2': argoverse2_dataset,
+    'argoverse2_generated': argoverse2_dataset_generated,
 }