Yang5493 12osc

11_3d_to_2d/calib.txt

@@ -4,5 +4,4 @@ P2: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 4.485728000000e+01
 P3: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.395242000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.199936000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.729905000000e-03
 R0_rect: 9.999239000000e-01 9.837760000000e-03 -7.445048000000e-03 -9.869795000000e-03 9.999421000000e-01 -4.278459000000e-03 7.402527000000e-03 4.351614000000e-03 9.999631000000e-01
 Tr_velo_to_cam: 7.533745000000e-03 -9.999714000000e-01 -6.166020000000e-04 -4.069766000000e-03 1.480249000000e-02 7.280733000000e-04 -9.998902000000e-01 -7.631618000000e-02 9.998621000000e-01 7.523790000000e-03 1.480755000000e-02 -2.717806000000e-01
-Tr_imu_to_velo: 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01
-
+Tr_imu_to_velo: 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01

11_3d_to_2d/submissions/yang5493.ipynb

@@ -0,0 +1,251 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 76,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "?import matplotlib.pyplot as plt\n",
+    "import matplotlib.image as mpimg\n",
+    "import cv2\n",
+    "\n",
+    "import plotly.express as px\n",
+    "import plotly.graph_objects as go\n",
+    "\n",
+    "#import imageio\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 40,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(123254, 4)\n"
+     ]
+    }
+   ],
+   "source": [
+    "X1 = np.fromfile(\"/Users/yutingyang/github/PerceptionTutorials/11_3d_to_2d/velo.bin\", dtype=np.float32)\n",
+    "\n",
+    "X1 = X1.reshape((-1,4))\n",
+    "X1 = X1[:,:-1]\n",
+    "\n",
+    "one_c = np.ones(X1.shape[0])\n",
+    "X1 = np.c_[X1,one_c]\n",
+    "#print(X1.shape)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 77,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#im = imageio.imread('/Users/yutingyang/github/PerceptionTutorials/11_3d_to_2d/image.png')\n",
+    "#img = cv2.imread('/Users/yutingyang/github/PerceptionTutorials/11_3d_to_2d/image.png')\n",
+    "#cv2.imshow('image', img)\n",
+    "\n",
+    "im = plt.imread('/Users/yutingyang/github/PerceptionTutorials/11_3d_to_2d/image.png')\n",
+    "#plt.imshow(img)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 67,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "13\n",
+      "13\n",
+      "13\n",
+      "13\n",
+      "10\n",
+      "13\n",
+      "13\n",
+      "(3, 4)\n",
+      "(3, 3)\n"
+     ]
+    }
+   ],
+   "source": [
+    "Tr_velo_to_cam_list = []\n",
+    "R0_rect_list = []\n",
+    "P2_list = []\n",
+    "with open('/Users/yutingyang/github/PerceptionTutorials/11_3d_to_2d/calib.txt') as f:\n",
+    "    for line in f:\n",
+    "        lines = line.split() \n",
+    "        print(len(lines))\n",
+    "        if lines[0]=='Tr_velo_to_cam:':\n",
+    "            Tr_velo_to_cam_list.append([float(i) for i in lines[1:]])\n",
+    "        elif lines[0]=='R0_rect:':\n",
+    "            R0_rect_list.append([float(i) for i in lines[1:]])\n",
+    "        elif lines[0]=='P2:':\n",
+    "            P2_list.append([float(i) for i in lines[1:]])\n",
+    "\n",
+    "Tr_velo_to_cam = np.array(Tr_velo_to_cam_list).reshape([3,4])\n",
+    "R0_rect = np.array(R0_rect_list).reshape([3,3])\n",
+    "P2 = np.array(P2_list).reshape([3,4])\n",
+    "print(P2.shape)\n",
+    "print(R0_rect.shape)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 68,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(4, 4)\n",
+      "(4, 4)\n"
+     ]
+    }
+   ],
+   "source": [
+    "a = np.array([0,0,0,1]).reshape([1,4])\n",
+    "Tr_velo_to_cam = np.concatenate((Tr_velo_to_cam,a), axis=0)\n",
+    "P2 = np.concatenate((P2,a), axis=0)\n",
+    "\n",
+    "print(Tr_velo_to_cam.shape)\n",
+    "print(P2.shape)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 69,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(4, 4)\n"
+     ]
+    }
+   ],
+   "source": [
+    "R0_rect = np.pad(R0_rect,((0, 1), (0, 1)), 'constant')\n",
+    "R0_rect[3,3]=1\n",
+    "R0_rect\n",
+    "\n",
+    "print(R0_rect.shape)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 71,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(123254, 3)"
+      ]
+     },
+     "execution_count": 71,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    " #X3 = P2 @ R0_rect @ Tr_velo_to_cam @ X1.\n",
+    "X3 = P2 @ R0_rect @ Tr_velo_to_cam @ np.transpose(X1)\n",
+    "X3 = np.transpose(X3)\n",
+    "X3 = X3[:,:-1]\n",
+    "X3.shape"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 73,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[45344.58603843 11394.94659141    74.38710999]\n",
+      "[609.57585315 153.18442392  74.38710999]\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(X3[0,:])\n",
+    "for x3 in X3:\n",
+    "    x3[0] = x3[0]/x3[2]\n",
+    "    x3[1] = x3[1]/x3[2]\n",
+    "    \n",
+    "print(X3[0,:])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 78,
+   "metadata": {},
+   "outputs": [
+    {
+     "ename": "AttributeError",
+     "evalue": "'numpy.ndarray' object has no attribute 'height'",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
+      "Cell \u001b[0;32mIn [78], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m px \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m1\u001b[39m \u001b[38;5;241m/\u001b[39m plt\u001b[38;5;241m.\u001b[39mrcParams[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mfigure.dpi\u001b[39m\u001b[38;5;124m'\u001b[39m]  \u001b[38;5;66;03m# pixel in inches\u001b[39;00m\n\u001b[0;32m----> 2\u001b[0m h, w \u001b[38;5;241m=\u001b[39m \u001b[43mim\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mheight\u001b[49m, im\u001b[38;5;241m.\u001b[39mwidth\n\u001b[1;32m      3\u001b[0m fig, ax \u001b[38;5;241m=\u001b[39m plt\u001b[38;5;241m.\u001b[39msubplots(\u001b[38;5;241m1\u001b[39m, \u001b[38;5;241m1\u001b[39m, figsize\u001b[38;5;241m=\u001b[39m(w\u001b[38;5;241m*\u001b[39mpx, h\u001b[38;5;241m*\u001b[39mpx))\n\u001b[1;32m      4\u001b[0m ax\u001b[38;5;241m.\u001b[39mset_xlim([\u001b[38;5;241m0\u001b[39m, w])\n",
+      "\u001b[0;31mAttributeError\u001b[0m: 'numpy.ndarray' object has no attribute 'height'"
+     ]
+    }
+   ],
+   "source": [
+    "px = 1 / plt.rcParams['figure.dpi']  # pixel in inches\n",
+    "h, w = im.height, im.width\n",
+    "fig, ax = plt.subplots(1, 1, figsize=(w*px, h*px))\n",
+    "ax.set_xlim([0, w])\n",
+    "ax.set_ylim([h, 0])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.8.13"
+  },
+  "vscode": {
+   "interpreter": {
+    "hash": "0553d48d5c947e80eaca19108a322f30dc3a6eb9ae7718d5446cffded678c620"
+   }
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}

12_remote_server/submissions/yang.5493

@@ -0,0 +1,30 @@
+No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda/10.2.89'
+---------------------  ------------------------------------------------------------------------------------
+sys.platform           linux
+Python                 3.7.10 (default, Jun  4 2021, 14:48:32) [GCC 7.5.0]
+numpy                  1.21.6
+detectron2             0.6 @/users/PAS2119/yang5493/detectron2/detectron2
+Compiler               GCC 8.4
+CUDA compiler          not available
+DETECTRON2_ENV_MODULE  <not set>
+PyTorch                1.12.1+cu102 @/users/PAS2119/yang5493/.local/lib/python3.7/site-packages/torch
+PyTorch debug build    False
+GPU available          No: torch.cuda.is_available() == False
+Pillow                 9.2.0
+torchvision            0.13.1+cu102 @/users/PAS2119/yang5493/.local/lib/python3.7/site-packages/torchvision
+fvcore                 0.1.5.post20220512
+iopath                 0.1.9
+cv2                    Not found
+---------------------  ------------------------------------------------------------------------------------
+PyTorch built with:
+  - GCC 7.3
+  - C++ Version: 201402
+  - Intel(R) Math Kernel Library Version 2020.0.0 Product Build 20191122 for Intel(R) 64 architecture applications
+  - Intel(R) MKL-DNN v2.6.0 (Git Hash 52b5f107dd9cf10910aaa19cb47f3abf9b349815)
+  - OpenMP 201511 (a.k.a. OpenMP 4.5)
+  - LAPACK is enabled (usually provided by MKL)
+  - NNPACK is enabled
+  - CPU capability usage: AVX2
+  - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=10.2, CUDNN_VERSION=7.6.5, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -fabi-version=11 -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -DEDGE_PROFILER_USE_KINETO -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-unused-parameter -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.12.1, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=OFF, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON, USE_ROCM=OFF, 
+
+yang.5493 says this is on local.