Merge pull request #222 from argoai/use-global-constants

Import global constants from config

argoverse/config/argoverse1.1.yaml → argoverse/config/argoverse-v1.1.yaml

@@ -1,54 +1,76 @@
 SensorDatasetConfig:
   _target_: argoverse.sensor_dataset_config.SensorDatasetConfig
-  dataset_name: argoverse1.1
+  dataset_name: argoverse-v1.1
   ring_cam_fps: 30
   stereo_cam_fps: 5
 
   # all ring cameras are `landscape` aspect ratio
-  sensors:
+  camera_sensors:
     _target_: argoverse.sensor_dataset_config.SensorSuiteConfig
 
     ring_front_center: 
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_front_center
 
     ring_front_left:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_front_left
 
     ring_front_right:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_front_right
 
     ring_side_left:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_side_left
 
     ring_side_right:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_side_right
 
     ring_rear_left:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_rear_left
 
     ring_rear_right:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 1200
       img_width: 1920
+      name: ring_rear_right
 
     stereo_front_right:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 2056
       img_width: 2464
+      name: stereo_front_right
 
     stereo_front_left:
       _target_: argoverse.sensor_dataset_config.SensorConfig
       img_height: 2056
       img_width: 2464
+      name: stereo_front_left
+
+    # Rectified stereo images
+    stereo_front_left_rect:
+      _target_: argoverse.sensor_dataset_config.SensorConfig
+      img_height: 2056
+      img_width: 2464
+      name: stereo_front_left_rect
+
+    stereo_front_right_rect:
+      _target_: argoverse.sensor_dataset_config.SensorConfig
+      img_height: 2056
+      img_width: 2464
+      name: stereo_front_right_rect

argoverse/sensor_dataset_config.py

@@ -1,40 +1,55 @@
-from typing import NamedTuple, Optional
+from dataclasses import dataclass
+from typing import Optional
 
 import hydra
 from hydra.utils import instantiate
+from omegaconf import MISSING
 
 
-class SensorConfig(NamedTuple):
-    """Image dimensions for each sensor are provided in pixels."""
+@dataclass(frozen=True)
+class SensorConfig:
+    """Image dimensions for each camera sensor are provided in pixels."""
 
-    img_height: int
-    img_width: int
+    img_height: int = MISSING
+    img_width: int = MISSING
+    name: str = MISSING
 
 
-class SensorSuiteConfig(NamedTuple):
-    """Contains information about image dimensions for each sensor."""
+@dataclass(frozen=True)
+class SensorSuiteConfig:
+    """Contains information about image dimensions for each camera sensor."""
 
-    ring_front_center: SensorConfig
-    ring_front_left: SensorConfig
-    ring_front_right: SensorConfig
-    ring_side_left: SensorConfig
-    ring_side_right: SensorConfig
-    ring_rear_left: SensorConfig
-    ring_rear_right: SensorConfig
-    stereo_front_right: Optional[SensorConfig]
-    stereo_front_left: Optional[SensorConfig]
+    ring_front_center: SensorConfig = MISSING
+    ring_front_left: SensorConfig = MISSING
+    ring_front_right: SensorConfig = MISSING
+    ring_side_left: SensorConfig = MISSING
+    ring_side_right: SensorConfig = MISSING
+    ring_rear_left: SensorConfig = MISSING
+    ring_rear_right: SensorConfig = MISSING
+    stereo_front_right: Optional[SensorConfig] = None
+    stereo_front_left: Optional[SensorConfig] = None
+    stereo_front_right_rect: Optional[SensorConfig] = None
+    stereo_front_left_rect: Optional[SensorConfig] = None
 
+    def has_camera(self, camera_name: str) -> bool:
+        """Check to see if metadata regarding a camera of interest is present."""
+        if camera_name not in self.__dict__.keys():
+            return False
+        # ensure field is not empty
+        return getattr(self, camera_name) is not None
 
-class SensorDatasetConfig(NamedTuple):
+
+@dataclass(frozen=True)
+class SensorDatasetConfig:
     """Global constants regarding frame rate and image dimensions."""
 
-    dataset_name: str
-    ring_cam_fps: int
-    stereo_cam_fps: int
-    sensors: SensorSuiteConfig
+    dataset_name: str = MISSING
+    ring_cam_fps: int = MISSING
+    stereo_cam_fps: int = MISSING
+    camera_sensors: SensorSuiteConfig = MISSING
 
 
-DATASET_NAME = "argoverse1.1"
+DATASET_NAME = "argoverse-v1.1"
 
 with hydra.initialize_config_module(config_module="argoverse.config"):
     cfg = hydra.compose(config_name=f"{DATASET_NAME}.yaml")

argoverse/utils/calibration.py

@@ -15,11 +15,8 @@
     CAMERA_LIST,
     RECTIFIED_STEREO_CAMERA_LIST,
     RING_CAMERA_LIST,
-    RING_IMG_HEIGHT,
-    RING_IMG_WIDTH,
     STEREO_CAMERA_LIST,
-    STEREO_IMG_HEIGHT,
-    STEREO_IMG_WIDTH,
+    get_image_dims_for_camera,
 )
 from argoverse.utils.se3 import SE3
 from argoverse.utils.transform import quat2rotmat
@@ -329,14 +326,9 @@ def get_calibration_config(calibration: Dict[str, Any], camera_name: str) -> Cam
     camera_extrinsic_matrix = get_camera_extrinsic_matrix(camera_calibration)
     camera_intrinsic_matrix = get_camera_intrinsic_matrix(camera_calibration)
 
-    if camera_name in STEREO_CAMERA_LIST or camera_name in RECTIFIED_STEREO_CAMERA_LIST:
-        img_width = STEREO_IMG_WIDTH
-        img_height = STEREO_IMG_HEIGHT
-    elif camera_name in RING_CAMERA_LIST:
-        img_width = RING_IMG_WIDTH
-        img_height = RING_IMG_HEIGHT
-    else:
-        raise ValueError(f"Unknown camera name: {camera_name}")
+    img_width, img_height = get_image_dims_for_camera(camera_name)
+    if img_width is None or img_height is None:
+        raise ValueError(f"Specified camera has unknown dimensions: {camera_name}")
 
     return CameraConfig(
         camera_extrinsic_matrix,

argoverse/utils/camera_stats.py

@@ -5,15 +5,12 @@
 import logging
 from typing import List, Optional, Tuple
 
+from argoverse.sensor_dataset_config import ArgoverseConfig
+
 """
 Since we use images of different sizes (ring vs. stereo), we cannot
 fix the image size throughout -- must be adaptive.
 """
-STEREO_IMG_WIDTH = 2464
-STEREO_IMG_HEIGHT = 2056
-
-RING_IMG_WIDTH = 1920
-RING_IMG_HEIGHT = 1200
 
 RING_CAMERA_LIST = [
     "ring_front_center",
@@ -42,12 +39,10 @@ def get_image_dims_for_camera(camera_name: str) -> Tuple[Optional[int], Optional
     Returns:
         Tuple of [img_width, image_height] in pixels
     """
-    if camera_name in RING_CAMERA_LIST:
-        img_width = RING_IMG_WIDTH
-        img_height = RING_IMG_HEIGHT
-    elif camera_name in STEREO_CAMERA_LIST:
-        img_width = STEREO_IMG_WIDTH
-        img_height = STEREO_IMG_HEIGHT
+    if ArgoverseConfig.camera_sensors.has_camera(camera_name):
+        camera_sensor_config = getattr(ArgoverseConfig.camera_sensors, camera_name)
+        img_width = camera_sensor_config.img_width
+        img_height = camera_sensor_config.img_height
     else:
         logger.error(f"{camera_name} not recognized")
         return None, None

demo_usage/cuboids_to_bboxes.py

@@ -12,10 +12,12 @@
 import cv2
 import imageio
 import numpy as np
+from typing_extensions import Final
 
 from argoverse.data_loading.object_label_record import json_label_dict_to_obj_record
 from argoverse.data_loading.simple_track_dataloader import SimpleArgoverseTrackingDataLoader
 from argoverse.map_representation.map_api import ArgoverseMap
+from argoverse.sensor_dataset_config import ArgoverseConfig
 from argoverse.utils.calibration import (
     CameraConfig,
     get_calibration_config,
@@ -39,9 +41,9 @@
 Number = Union[int, float]
 
 # jigger lane pixel values by [-10,10] range
-LANE_COLOR_NOISE = 20
-STEREO_FPS = 5
-RING_CAM_FPS = 30
+LANE_COLOR_NOISE: Final = 20
+STEREO_FPS: Final = ArgoverseConfig.stereo_cam_fps
+RING_CAM_FPS: Final = ArgoverseConfig.ring_cam_fps
 
 
 def plot_lane_centerlines_in_img(

setup.py

@@ -58,6 +58,7 @@
         "matplotlib",
         "motmetrics==1.1.3",
         "numpy==1.19",
+        "omegaconf==2.1.0.dev26",
         "opencv-python>=4.1.0.25",
         "pandas>=0.23.1",
         "pillow",

tests/test_sensor_dataset_config.py

@@ -0,0 +1,27 @@
+import hydra
+from hydra.utils import instantiate
+
+from argoverse.sensor_dataset_config import SensorDatasetConfig
+
+
+def test_sensor_dataset_config():
+    """Ensure that config fields are populated correctly from YAML."""
+    dataset_name = "argoverse-v1.1"
+
+    with hydra.initialize_config_module(config_module="argoverse.config"):
+        cfg = hydra.compose(config_name=f"{dataset_name}.yaml")
+        argoverse_config: SensorDatasetConfig = instantiate(cfg.SensorDatasetConfig)
+
+    # check a few camera names
+    assert argoverse_config.camera_sensors.has_camera("ring_rear_left")
+    assert argoverse_config.camera_sensors.has_camera("stereo_front_left_rect")
+    assert not argoverse_config.camera_sensors.has_camera("ring_rear_dummyname")
+
+    # check sample camera dimensions
+    assert argoverse_config.camera_sensors.ring_rear_left.img_width == 1920
+    assert argoverse_config.camera_sensors.ring_rear_left.img_height == 1200
+
+    # check other properties
+    assert argoverse_config.dataset_name == "argoverse-v1.1"
+    assert argoverse_config.ring_cam_fps == 30
+    assert argoverse_config.stereo_cam_fps == 5