Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge lidarseg_v1.0 into nuscenes_v2.0 (#434)
* nuScenes-lidarseg (#343) * initial commit for NuScenes-lidarseg * add function to list lidarseg categories and create colormap * integrated lidarseg function into nuscenes * print number of lidarseg annotations * Render lidarseg labels in image * Improve error message when pointsensor is not lidar * Calculate stats for lidarseg * Assertion for nsweeps to display lidarseg labels * Render only points in image which are labeled with classes the user chooses * Modularize function to filter colormap * Modularize function for generating colors for lidarseg classes * Clean up example usages * Allow user to filter and show desired lidarseg labels for render_sample_data * Save figure from render_pointcloud_in_image without excessive border * Render scene with pointclouds and lidarseg labels * Shift conditional statements in render_sample_data() * Check that lidar pointcloud is a keyframe * Render all camera channels with pointclouds and lidarseg labels for all scenes * Allow user to show lidarseg labels for render_sample() * Hacks to render for VOs * Added scene to filename for easy retrieval for VOs * Render scenes for VOs per class * Updated rendering of scenes for cameras to output videos * Function to convert plt scatter plot to cv2 * Tidy up examples * Print stats for lidarseg keyframe * Enable sorting of counts * Tweak verbosity for render_sample * Include class index when printing sample stats * Assert that path for video given by user ends with .avi * Enable showing of legend when mapping pc to image * Style edits * nuScenes-lidarseg initial tutorial * Cleanup, move methods out of tutorial, copyright * Cleanup * Remove empty cell * Throw errors rather than warnings * Address some comments on style. * Add full stops to comments * Tidy up utils * Removed TODOs * Initial draft of lidarseg tutorial * Added gifs for tutorial * Tidy up tutorial * Add setup instructions to tutorial * Edit style for one assertion * Changed show_lidarseg_labels default value in render_sample * Change type to np.ndarray * Fix some typos * Remove version from lidarseg.json * Bugfix * Unbugfix * Don't add category_lidarseg to table_names * Comment out dangerous commands Co-authored-by: Holger Caesar <holger@nutonomy.com> * View predictions using lidarseg devkit (#396) * Allow user to view preds using render_pointcloud_in_image * Allow users to get stats of predictions for a sample * Add visualization for user's preds to relevant functions * Updated tutorial * Fixed some typos in tutorial * Comment out code which may crash notebook * Fix double # * Get lidarseg file name from json instead, default coloring to depth if empty json * Change show_lidarseg_preds to lidarseg_preds_bin_path * Amend doc string for lidarseg_preds_bin_path * Amend render video functions to take folder name for preds * Amend tutorial * Remove gifs from folder * Clear outputs from tutorial * Update documentations for lidarseg (#404) * Update docs for lidarseg * Fix some typos * Address comments for docs * Update folder structure description in notebook * Automatically determine which lidarseg classes are present in a pointcloud projected onto an image (#410) * Auto find liarseg labels present in projected pcl * Add assertion to check num of bin files equals num of lidarseg records * Address comments * Adjust legend for aesthetics * Improve aesthetics for render_scene_with_pointclouds_for_all_cameras (#412) * Flip back cams horizontally for aesthetics * Explicitly set margins to zero and turn axes off * Prevent final frames from showing up in notebook if user stops render * Allow render_scene_with_pointclouds_for_all_cameras to output frames as images * Update indices in tutorial examples * Style changes * Clear memory in render_camera_channel_with_pointclouds if user stops rendering * Graceful exit if users stops rendering * Change random seed for color scheme * Style edits * Enable bboxes to be plotted with lidarseg (#418) * Include rendering of lidarseg with bboxes for render_scene_with_pointclouds_for_all_cameras * Add option to render bboxes in lidarseg videos * Style edits * Rename methods * Renamed argument to be more similar to nuScenes * Rename show_lidarseg_labels to show_lidarseg * Added comment on videos and images * Rewording * Making plotting of bboxes with lidarseg more modular * Remove option to save renders as images for render_scene_lidarseg * Use render_mode instead of render_if_no_points * Style edits * Update notebook * Style edits for notebook * Remove render_if_no_points for render_pointcloud_in_image * Style edits * Update file names for renders * Save image even for verbose=False * Made plot_points_and_bboxes * Update coloring * Update colormap * Choose nicer colors for some classes * Deep copy for colormap * Reduce bbox line width and update colormap * One line per arg * Update colormap * Remove unused method for arbitrary colormap * Remove leading 0 for filename * One colormap to rule them all * Update error msg for checking colormap to colors conversion * Add dpi as an arg for rendering lidarseg scenes * Amend docstring in get_colormap() * Make colormap DRY Co-authored-by: Holger Caesar <holger@nutonomy.com> * Remove render_if_no_points argument from lidarseg tutorial (#423) * Remove render_if_no_points arg and section * Rephrasing * Single category.json for both nuScenes and nuScenes-lidarseg (#424) * Change 'label' to 'name' when loading category json; check if preds folder exists * Check in various functions that lidarseg is installed * Shorten assertion statement * Check that new version of category.json is used, if loading lidarseg * Check only for 'index' in category records * nutonomy green for driveable surface (#425) * Improve lidarseg rendering methods, update tutorial, add unit tests (#429) * Initial commit to address comments * Fix bug where passing np.array instead of array into filter_lidarseg_labels throws an error * Rephrase some parts of tutorial * Include legend for render_sample_data * Add arg for show_lidarseg_legend in render_sample_data * Adjust aesthetics of legend in render_sample_data * Update colormap * Make creating legend modular * Ensure only labels in pc is included in legend * Explain verbose * Check that filter_lidarseg_labels is either a list or np.array * Allow user to list stats by class index * Update docstrings * Update tutorial to demo sort_by * Add unit tests * Make painting of labels modular * Add docstrings * Add lidarseg annotation instructions, update lidarseg tutorial intro (#431) * Initial commit * Add links from classes to examples * Link from examples to class definitions using Top * Remove extra white line * Include script to render lidarseg histogram for split (#433) * Initial commit * Arrange order of seaborn in requirements.txt * Add docstrings * Add more docstrings * Remove seaborn from requirements * Address comments * Add horizontal gridlines * Replicate look and feel of seaborn without needing package * Style edits * Add type in truncate_class_name Co-authored-by: Holger Caesar <holger@nutonomy.com>
- Loading branch information
1 parent
274725a
commit db6805f