yizhou-wang / cruw-devkit

Develop kit for CRUW dataset

Hi there 👋

• 🔭 I'm currently a Deep Learning Engineer at NVIDIA.
• 🌱 I’m interested in autonomous driving, sensor fusion, cross-modal object detection and tracking, and 3D computer vision.

cruw-devkit's Issues

About CRUW 2022 dataset

Hi @yizhou-wang , thank you for sharing the great devkit tool as well as the CRUW dataset! May I ask, is CRUW 2022 dataset open source? It seems not at https://www.cruwdataset.org/ if it's open, could you please share us the link please? Thank you!

question about radar_data_type

Hi,
what is the mean of the radar_data_type: 'RI', 'RISEP', 'AP', 'APSEP' ? what is difference between them？

关于测试集的地面真实值

您好~感谢您提供的代码和数据集，请问测试集有对应的标注吗？因为最近我在调试AP和AR的评估代码没有找到truth_dir的路径，另外您最新上传的convert_rodnet_to_rod2021.py是为了将test.py生成的.txt格式与标注格式相同吗？因为我看之前生成的与训练中的anno文件顺序不太一样。期待您的回复！

Camera Annotations

Hi,

Thanks for the great work. It seems that the annotation files contain annotations only for the radar frames. Will it be possible to provide the camera annotations as well, or a code to map the radar annotations onto camera images ?

Best Regards,
Mujtaba

radar data of one chirp

Hi, it is a good work!

The shape of chirp data is 128x128x2 in 000000_0000.npy. What are the meaning of chirp[:,:,0] and chirp[:,:,1]?

Thanks!

can't access the dataset website

When I access the dataset website, its layout is chaotic and then I clicked the download button, but it refers to the wrong website. Is there any wrong with the website or where can I download this dataset?

Questions about the format of the dataset

I have downloaded the dataset from your website. The format is shown below.

In file cruw_devkit_tutorial_rod2021.ipynb, the format is

Do I need to transfer the downloaded dataset into the format in the ipynb file?
Is the transfer script already provided?

Understanding the RF Image example

In the tutorial, I have three questions about the first example (In [11], RGB Image with seq_name 2019_04_09_BMS1000, with only a bicycle).

• In the RGB image, the cyclist seems small in horizontal, while it seems very 'wide' in RF Image. Is there due to the not uniformed angle axis, or are there other possible causes?
• In ROD2021, it says the radar has FOV ±60°, but the RF image, which ranges from -90° to +90°, has Radar data also in column 0. As I understood, Radar information should only appear on the x-axis from 9 to 118, corresponding to the ±60°.
• In the RF Image, apart from the cyclist, many small horizontal lines have no corresponding objects in the RGB Image. Should we interpret them as noise signal?

Thanks for your attention. I’m looking forward to your reply.

How do I install it without `Conda`

Hi.
I'm using Python 3.9.13 on Windows 10.
don't have anaconda installed.
How do I install cruw-devkit using pip command

How AP is computed?

According to the essay, AP and AR are the average precision and recall among different OLS threshold. As I understand, the precision should be total True Positive(TP) over TP+FP and recall should be total TP over the number of ground truth. In the code, the recall seems to be calculated in this way, while the precision is averaged over another dimension R.

cruw-devkit/cruw/eval/rod/rod_eval_utils.py

Line 164 in a565905

# dimension of precision: [TxRxK]

This dimension seems to be calculated with recall and recThrs. I wonder what's the meaning of this dimension and is the precision consistent with the classic definition? Also, is this AP the metric used in the ROD2021 competition?

Thanks in advance!

Details about confidence map mapping

Can you explain or show reference on how range and angle are mapped in the code below?

cruw-devkit/cruw/mapping/generate_grids.py

Line 6 in a565905

def confmap2ra(radar_configs, name, radordeg='rad'):

or if you can explain the meaning of the keywords in radar_cfg in sensor_config_rod2021. It would be of great help to understand the mapping process. Thanks in advance.

Mapping from RGB to RF image

Hi, I have an issue of mapping the RGB image from CAM_0 to the RF image. Because the both of them can be regarded as a projection, is there any way we can directly map RGB image to the RF image?
What is the meaning of the value t_cl2rh and how do we use it?

Also, it seems that after generating the 3D position of the objects from stereo camera, you project it to the radar. Will you share the code of this part?

Best,