Add rccars to perception

Author: cpsl-interns

avstack/geometry/bbox.py

@@ -486,7 +486,7 @@ def size(self):
     @property
     def hwl(self):
         return self.size
-    
+
     @property
     def lwh(self):
         return list(reversed(self.hwl))

avstack/modules/perception/base.py

@@ -281,6 +281,9 @@ def parse_mm_object_classes(dataset):
         ]:
             all_objs = ["car", "bicycle", "truck", "motorcycle"]
             whitelist = all_objs
+        elif dataset == "rccars-oneclass":
+            all_objs = ["car"]
+            whitelist = all_objs
         elif dataset == "cityscapes":
             all_objs = [
                 "person",

avstack/modules/perception/object2dfv.py

@@ -174,6 +174,12 @@ def parse_mm_model_from_checkpoint(model, dataset, epoch):
                 threshold = 0.5
                 config_file = "configs/rtmdet/rtmdet_m_8xb32-300e_coco.py"
                 checkpoint_file = "checkpoints/coco/rtmdet_m_8xb32-300e_coco_20220719_112220-229f527c.pth"
+            elif dataset == "rccars-oneclass":
+                threshold = 0.5
+                config_file = "configs/rccars/rtmdet_m_8xb32-300e_rccars-oneclass.py"
+                checkpoint_file = (
+                    f"work_dirs/rtmdet_m_8xb32-300e_rccars-oneclass/{epoch_str}.pth"
+                )
             else:
                 raise NotImplementedError(f"{model}, {dataset} not compatible yet")
         elif model in ["fasterrcnn", "faster_rcnn"]:

avstack/modules/perception/utils.py

@@ -48,6 +48,7 @@
     ("motorcycle", ["motorcycle"], ("ignore", ignore_classes)),
 ]
 
+rccars_oneclass_classes = [("car", car_classes)]
 coco_person_classes = [("person", ped_classes)]
 coco_classes = [("person", ped_classes), ("car", car_classes), ("bicycle", bic_classes)]
 
@@ -59,6 +60,7 @@
     "carla-joint": {k: ks[0] for ks in carla_clases for k in ks[1]},
     "carla-vehicle": {k: ks[0] for ks in carla_clases for k in ks[1]},
     "carla-infrastructure": {k: ks[0] for ks in carla_clases for k in ks[1]},
+    "rccars-oneclass": {k: ks[0] for ks in rccars_oneclass_classes for k in ks[1]},
     "coco-person": {k: ks[0] for ks in coco_person_classes for k in ks[1]},
     "coco": {k: ks[0] for ks in coco_classes for k in ks[1]},
 }