naive baseline

apperception-db · Aug 10, 2023 · d62fc76 · d62fc76
1 parent 58e79ea
commit d62fc76
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Showing 3 changed files with 14 additions and 7 deletions.
diff --git a/playground/run-ablation.ipynb b/playground/run-ablation.ipynb
@@ -592,7 +592,10 @@
     "        cache=ss_cache,\n",
     "    ))\n",
     "\n",
-    "    pipeline.add_filter(FromTracking2DAndRoad())\n",
+    "    if geo_depth:\n",
+    "        pipeline.add_filter(FromTracking2DAndRoad())\n",
+    "    else:\n",
+    "        pipeline.add_filter(FromTracking3DAndDepth())\n",
     "\n",
     "    # Segment Trajectory\n",
     "    # pipeline.add_filter(FromTracking3D())\n",

diff --git a/spatialyze/world.py b/spatialyze/world.py
@@ -23,6 +23,9 @@
     FromTracking2DAndRoad,
 )
 from .video_processor.stages.tracking_3d.tracking_3d import Metadatum as T3DMetadatum
+from .video_processor.stages.depth_estimation import DepthEstimation
+from .video_processor.stages.detection_3d.from_detection_2d_and_depth import FromDetection2DAndDepth
+from .video_processor.stages.tracking_3d.from_tracking_2d_and_depth import FromTracking2DAndDepth
 from .video_processor.utils.format_trajectory import format_trajectory
 from .video_processor.utils.get_tracks import get_tracks
 from .video_processor.utils.insert_trajectory import insert_trajectory
@@ -107,14 +110,15 @@ def _execute(world: "World", optimization=True):
                 InView(distance=50, predicate=world.predicates),
                 YoloDetection(),
                 objtypes_filter,
-                FromDetection2DAndRoad(),
+                DepthEstimation(),
+                FromDetection2DAndDepth(),
                 *(
                     [DetectionEstimation()]
                     if all(t in ["car", "truck"] for t in objtypes_filter.types)
                     else []
                 ),
                 StrongSORT(),
-                FromTracking2DAndRoad(),
+                FromTracking2DAndDepth(),
             ]
         )
     else:

diff --git a/tests/workflow/test_simple_workflow.py b/tests/workflow/test_simple_workflow.py
@@ -52,8 +52,8 @@ def test_simple_workflow():
 
     objects, trackings = _execute(world, optimization=False)
 
-    # with open(os.path.join(OUTPUT_DIR, 'simple-workflow-trackings.json'), 'w') as f:
-    #     json.dump(trackings, f, indent=1, cls=MetadataJSONEncoder)
+    with open(os.path.join(OUTPUT_DIR, 'simple-workflow-trackings.json'), 'w') as f:
+        json.dump(trackings, f, indent=1, cls=MetadataJSONEncoder)
 
     with open(os.path.join(OUTPUT_DIR, 'simple-workflow-trackings.json'), 'r') as f:
         trackings_groundtruth = json.load(f)
@@ -79,8 +79,8 @@ def test_simple_workflow():
                 assert p.object_type == g['object_type'], (p.object_type, g['object_type'])
                 assert str(p.timestamp) == g['timestamp'], (p.timestamp, g['timestamp'])
 
-    # with open(os.path.join(OUTPUT_DIR, 'simple-workflow-objects.json'), 'w') as f:
-    #     json.dump(objects, f, indent=1)
+    with open(os.path.join(OUTPUT_DIR, 'simple-workflow-objects.json'), 'w') as f:
+        json.dump(objects, f, indent=1)
 
     with open(os.path.join(OUTPUT_DIR, 'simple-workflow-objects.json'), 'r') as f:
         objects_groundtruth = json.load(f)