new files

Author: visakii-work

.commitlintrc.yml

@@ -0,0 +1,4 @@
+extends:
+    - '@commitlint/config-conventional'
+rules:
+  type-enum: [2, 'always', ['build', 'chore', 'ci', 'docs', 'feat', 'fix', 'refactor', 'revert', 'perf', 'schema', 'style', 'test']]

.github/workflows/pre-merge.yml

@@ -3,9 +3,11 @@ on:
   push:
     branches:
       - master
+      - agent
   pull_request:
     branches:
       - master
+      - agent
 
 jobs:
   pre-merge-tests:
@@ -17,6 +19,8 @@ jobs:
       - name: Lint commit message with commitlint
         # Documentation: https://github.com/wagoid/commitlint-github-action
         uses: wagoid/commitlint-github-action@v4
+        with:
+          configFile: .commitlintrc.yml
       - name: Install Python 3.6
         uses: actions/setup-python@v1
         with:
@@ -45,6 +49,7 @@ jobs:
           VALIDATE_ALL_CODEBASE: false # Only new or edited files will be parsed for validation.
           VALIDATE_DOCKERFILE_HADOLINT: false
           VALIDATE_JSCPD: false
+          VALIDATE_PROTOBUF: false
           VALIDATE_PYTHON_BLACK: false
           VALIDATE_PYTHON_FLAKE8: false # Formatted by YAPF.
           VALIDATE_PYTHON_ISORT: false # Formatted by YAPF.

dgp/constants.py

@@ -35,6 +35,7 @@
 # String identifiers for feature types
 ALL_FEATURE_TYPES = tuple(FEATURE_KEY_TO_TYPE_ID.keys())
 
+
 #EGO AGENT DIMENSIONS
 vehicle_name = 'lexus'
 vehicle_length = 5.234
@@ -49,3 +50,4 @@
 vehicle_applanix_origin_to_cg_dist = 1.53
 vehicle_applanix_origin_to_r_bumper = 1.164
 vehicle_applanix_origin_height = 0.000
+

dgp/datasets/synchronized_dataset.py

@@ -132,19 +132,21 @@ def _item_index_for_scene(scene_idx, scene, backward_context, forward_context, o
         st = time.time()
         logging.debug(f'Indexing scene items for {scene.scene_path}')
 
-        # Define a safe sample range given desired context
-        sample_range = np.arange(backward_context, len(scene.datum_index) - forward_context)
         if not only_annotated_datums:
+            # Define a safe sample range given desired context
+            sample_range = np.arange(backward_context, len(scene.datum_index) - forward_context)
             # Build the item-index of selected samples for an individual scene.
             scene_item_index = [(scene_idx, sample_idx, scene.selected_datums) for sample_idx in sample_range]
             logging.debug(f'No annotation filter--- Scene item index built in {time.time() - st:.2f}s.')
         else:
             # Filter out samples that do not have annotations.
             # A sample is considered annotated if ANY selected datum in the sample contains ANY requested annotation.
+            sample_range = np.arange(0, len(scene.datum_index))
             annotated_samples = scene.annotation_index[scene.datum_index[sample_range]].any(axis=(1, 2))
-            scene_item_index = [(scene_idx, sample_idx, scene.selected_datums)
-                                for sample_idx, annotated_sample in zip(sample_range, annotated_samples)
-                                if annotated_sample]
+            scene_item_index = []
+            for idx in range(backward_context, len(scene.datum_index) - forward_context):
+                if all(annotated_samples.data[idx - backward_context:idx + 1 + forward_context]):
+                    scene_item_index.append((scene_idx, sample_range[idx], scene.selected_datums))
             logging.debug(f'Annotation filter -- Scene item index built in {time.time() - st:.2f}s.')
         return scene_item_index
 

dgp/proto/annotations.proto

@@ -71,8 +71,8 @@ enum AnnotationType {
 // 2D bounding box
 message BoundingBox2D {
   // (x, y) is top left corner (in absolute pixel coordinates)
-  uint32 x = 1;
-  uint32 y = 2;
+  int32 x = 1;
+  int32 y = 2;
 
   // (w, h) is width and height (in absolute pixel coordinates)
   uint32 w = 3;
@@ -157,8 +157,8 @@ message BoundingBox3DAnnotation {
 // 2D point.
 message KeyPoint2D {
   // (x, y) point (in absolute pixel coordinates).
-  uint32 x = 1;
-  uint32 y = 2;
+  int32 x = 1;
+  int32 y = 2;
 }
 
 // 2D point annotation.

dgp/proto/annotations_pb2.py

@@ -0,0 +1,32 @@
+# Copyright 2021 Toyota Research Institute.  All rights reserved.
+import os
+from collections import OrderedDict
+
+from dgp.proto import dataset_pb2
+
+
+def get_split_to_scenes(dataset):
+    """
+    Retrieve a dictionary of split to scenes of a DGP-compliant scene dataset.
+
+    Parameters
+    ----------
+    dataset: dgp.proto.dataset_pb2.SceneDataset
+        SceneDataset proto object.
+
+    Returns
+    -------
+    split_to_scene_json: dict
+        A dictionary of split to a list of scene JSONs.
+
+    split_to_scene_dir: dict
+        A dictionary of split to a list of scene_dirs.
+    """
+    split_to_scene_json = OrderedDict()
+    split_to_scene_dir = OrderedDict()
+    for k, v in dataset_pb2.DatasetSplit.DESCRIPTOR.values_by_number.items():
+        scene_jsons = dataset.scene_splits[k].filenames
+        split_to_scene_json[v.name] = scene_jsons
+        split_to_scene_dir[v.name] = [os.path.dirname(scene_json) for scene_json in scene_jsons]
+        assert len(set(split_to_scene_dir[v.name])) == len(split_to_scene_dir[v.name])
+    return split_to_scene_json, split_to_scene_dir