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processed/Drone/Outdoor_Day/dl.sh

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+#!/bin/bash
+
+
+wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_day_penno_plaza/falcon_outdoor_day_penno_plaza_data.h5
+
+wget -c https://m3ed-dist.s3.us-west-2.amazonaws.com/processed/falcon_outdoor_day_penno_trees/falcon_outdoor_day_penno_trees_data.h5

processed/Drone/Outdoor_Day/fast_flight_2/cut_data.h5

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+size 9658018102

processed/Drone/Outdoor_Day/fast_flight_2/falcon_outdoor_day_fast_flight_2_pose_gt.h5

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/final_ps_dict.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/initial_pseudo_labels.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_ped.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_ped_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_veh_all.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_veh_all_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_veh_static.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_veh_static_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/final_ps_dict.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/initial_pseudo_labels.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_ped.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_ped_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_veh_all.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_veh_all_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_veh_static.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_veh_static_refined.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/ps_labels_final/tracks_world_veh_static_refined_prop_boxes.pkl

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processed/Drone/Outdoor_Day/fast_flight_2/refine_files/m3ed_dataset.yaml

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+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Falcon
+TERRIAN: Outdoor_Day
+SEQUENCE: fast_flight_2
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              

processed/Drone/Outdoor_Day/fast_flight_2/refine_files/ps_config.yaml

@@ -0,0 +1,75 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.5,0.3,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.2
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3
+

processed/Drone/Outdoor_Day/penno_cars/cut_data.h5

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processed/Drone/Outdoor_Day/penno_cars/falcon_outdoor_day_penno_cars_pose_gt.h5

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/final_ps_dict.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/initial_pseudo_labels.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_ped.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_ped_refined.pkl

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+size 17700

processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_veh_all.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_veh_all_refined.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_veh_static.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_veh_static_refined.pkl

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processed/Drone/Outdoor_Day/penno_cars/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl

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processed/Drone/Outdoor_Day/penno_cars/refine_files/m3ed_dataset.yaml

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+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Falcon
+TERRIAN: Outdoor_Day
+SEQUENCE: penno_cars
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              

processed/Drone/Outdoor_Day/penno_cars/refine_files/ps_config.yaml

@@ -0,0 +1,75 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.3,0.3,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.2
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3
+

processed/Drone/Outdoor_Day/penno_parking_1/cut_data.h5

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+size 6966223398

processed/Drone/Outdoor_Day/penno_parking_1/falcon_outdoor_day_penno_parking_1_pose_gt.h5

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