From c664aad444375339cf5003de5195903b21a2ef77 Mon Sep 17 00:00:00 2001
From: Illia Oleksiienko <io@ece.au.dk>
Date: Sun, 16 Oct 2022 00:29:45 +0000
Subject: [PATCH] Add tracking 3d demo inside detection demo
---
.../demos/voxel_object_detection_3d/README.md | 4 ++--
.../demos/voxel_object_detection_3d/demo.py | 7 ++++++-
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/README.md b/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/README.md
index 0a8303a1be..b6b48042c8 100644
--- a/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/README.md
+++ b/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/README.md
@@ -19,12 +19,12 @@ pip install -e .
## Running the example
Car 3D Object Detection using [TANet](https://arxiv.org/abs/1912.05163) from [KITTI](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d)-like dataset
```bash
-python3 demo.py --ip=0.0.0.0 --port=2605 --algorithm=voxel --model_name=tanet_car_xyres_16 --source=disk --data_path=/data/sets/kitti_second/training/velodyne --model_config=configs/tanet_car_xyres_16.proto
+python3 demo.py --ip=0.0.0.0 --port=2605 --algorithm=voxel --model_name=tanet_car_xyres_16 --source=disk --data_path=/data/sets/kitti_tracking/training/velodyne/0000--model_config=configs/tanet_car_xyres_16.proto
```
Car 3D Object Detection using [PointPillars](https://arxiv.org/abs/1812.05784) from [KITTI](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d)-like dataset
```bash
-python3 demo.py --ip=0.0.0.0 --port=2605 --algorithm=voxel --model_name=pointpillars_car_xyres_16 --source=disk --data_path=/data/sets/kitti_second/training/velodyne --model_config=configs/tanet_car_xyres_16.proto
+python3 demo.py --ip=0.0.0.0 --port=2605 --algorithm=voxel --model_name=pointpillars_car_xyres_16 --source=disk --data_path=/data/sets/kitti_tracking/training/velodyne/0000 --model_config=configs/pointpillars_car_xyres_16.proto
```
3D Object Detection using a specially trained model X for O3M Lidar
diff --git a/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/demo.py b/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/demo.py
index d113b26a05..2ce25d7733 100644
--- a/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/demo.py
+++ b/projects/python/perception/object_detection_3d/demos/voxel_object_detection_3d/demo.py
@@ -23,6 +23,7 @@ from flask import Flask, Response, render_template, request
# OpenDR imports
from opendr.perception.object_detection_3d import VoxelObjectDetection3DLearner
+from opendr.perception.object_tracking_3d import ObjectTracking3DAb3dmotLearner
from data_generators import (
lidar_point_cloud_generator,
disk_point_cloud_generator,
@@ -162,6 +163,7 @@ def voxel_object_detection_3d(config_path, model_name=None):
# Init model
detection_learner = VoxelObjectDetection3DLearner(config_path)
+ tracking_learner = ObjectTracking3DAb3dmotLearner()
if model_name is not None and not os.path.exists(
"./models/" + model_name
@@ -172,6 +174,7 @@ def voxel_object_detection_3d(config_path, model_name=None):
else:
detection_learner = None
+ tracking_learner = None
def process_key(key):
@@ -284,8 +287,10 @@ def voxel_object_detection_3d(config_path, model_name=None):
if predict:
predictions = detection_learner.infer(point_cloud)
+ tracking_predictions = tracking_learner.infer(predictions)
else:
predictions = []
+ tracking_predictions = []
if len(predictions) > 0:
print(
@@ -296,7 +301,7 @@ def voxel_object_detection_3d(config_path, model_name=None):
t = time.time()
frame_bev_2 = draw_point_cloud_bev(
- point_cloud.data, predictions, scale, xs, ys
+ point_cloud.data, tracking_predictions, scale, xs, ys
)
frame_proj_2 = draw_point_cloud_projected_numpy(
point_cloud.data,
--
GitLab