Ayush/online ace

.github/workflows/opencv-build.yaml

@@ -11,7 +11,7 @@ jobs:
       - name: actions-setup-cmake
         uses: jwlawson/actions-setup-cmake@v1.13.1
         with:
-          cmake-version: 3.24
+          cmake-version: 3.28
 
       - name: Checkout
         uses: actions/checkout@v3

anchor/backend/README.md

@@ -1,33 +1,44 @@
     # November 14 Dataset Documentation
 (All datasets recorded with the lab iPhone 12 Pro)
 
-All maps recorded with half on lights in Paul's lab
+All maps recorded with half on lights in Paul's lab at night
 
 Maps:
-ayush_nov_14_3 - Basic sweep of Paul's lab
+ayush_nov30_1 - Basic sweep of Paul's lab
 - start point: Ayush ACE #1 (front left corner of lab table when facing into the lab)
-- test: mimics mapping path
-- testing_0AC24C4E-C4D2-4B9E-952D-0C44A2752EC2_ayush_nov_14_3: stay in the end part of paul's lab
-- testing_26077932-EFC7-4B24-B7C6-DC6878E6B0D4_ayush_nov_14_3.tar : two lights on, full lab sweep
-- testing_D942AA09-5F83-4A4A-9CED-D69B203027FD_ayush_nov_14_3.tar : lights off, full labish
-
-ayush_nov_14_4 - Start in Paul's lab, record QEA room
-- start point: ACE Testing #1 (front corner of lab iMac Table)
-- test: mimics mapping path
-- testing_46F804E3-8948-43D0-BF64-2B7F00D6663F_ayush_nov_14_4.tar : random point in qea room as start
-- testing_916E83DA-EB88-45D1-94FF-3A9705C91A0C_ayush_nov_14_4.tar : dim lights in qea room
-- testing_632F9815-002B-4E7E-8BF2-ACA38DC26F4B_ayush_nov_14_4.tar : fast movement during localization in qea room
+- test: mimics the mapping path
+- testing_94D0E0FA-969F-42A9-9B6E-90750E8A28E9_ayush_nov30_1.tar: stay in the end part of paul's lab (same lighting)
+- testing_834D9882-2910-4E2B-8CAB-F0FC0FB1C915_ayush_nov30_1.tar: start in the front of the lab, two lights on
+- testing_F1567117-3BB1-497F-957F-FBECF9F56F33_ayush_nov30_1.tar: start in end part of lab, walk out and into the QEA room
+- testing_B5227C47-2A46-4619-BCDF-242A5EE57075_ayush_nov30_1.tar: (MIGHT BE BAD) start in the end part, all lights off (cloud anchor didn't resolve)
+- testing_5CA55EC2-488A-496C-8C64-D03EB170ACAD_ayush_nov30_1.tar: SANITY BAD! SHOULD BE BAD! just recorded in the QEA room (cloud anchor didn't resolve)
+- testing_0668C249-AB9A-4A2C-988F-F6ED3A420894_ayush_nov30_1.tar: random starting point in daylight
+- testing_D417435B-C2A0-40DF-A1B2-C09F143AB6D7_ayush_nov30_1.tar: random starting point in daylight
+- testing_8E1E9222-15B0-4BDD-B9B1-3922F88E2B4B_ayush_nov30_1.tar: in daylight but with light on
 
-ayush_nov_14_5 - Record Paul's lab and QEA room
-- start point: Ayush ACE #1 (front left corner of lab table when facing into the lab)
-- test: just localize in paul's lab
-- testing_A88A09D0-DD39-4E9B-9688-93096690EB59_ayush_nov_14_5.tar : just qea room
-- testing_1378446C-16A7-42D7-AE0A-FE15AF107C5C_ayush_nov_14_5.tar : furniture moved in pauls lab, just pauls lab
+ayush_nov30_2 - Map of Paul's lab and QEA room
+- start point: Ayush ACE #2 (higher window near door)
+- test: mimics the mapping path
+- testing_CD81156C-5CE9-49E8-B9C7-9754914CB715_ayush_nov30_2.tar: just paul's lab
+- testing_ED89FDB3-A754-41AE-B91D-5F5C8E92F67D_ayush_nov30_2.tar: just QEA room
+- testing_C7CB77B3-A217-43A5-AA4B-4900D0BB9021_ayush_nov30_2.tar: just qea room, dim lights
+- testing_16365A15-B546-4914-9A65-9ECC76BB7D9E_ayush_nov30_2.tar: move furniture in paul's lab
 
+ayush_nov30_3 - Map of front of Paul's lab and then out to the left (no reverse)
+- start point: Ayush ACE #2 (higher window near door)
+- test: go out and to the left
+- testing_A804ACC8-4C4E-47DF-AD1B-2E456C9D7CDA_ayush_nov30_3.tar: mostly pauls lab and just outside
+- testing_CBF93574-5FCA-4A88-A00E-01CEE08F9E11_ayush_nov30_3.tar: midpoint
+- testing_0A955FDD-89AF-4207-A17B-44B0A1541B6C_ayush_nov30_3.tar: start at the end, move in reverse (cloud anchor only resolved at the end)
+- testing_BC2FB0E7-E9F3-4B81-837E-41680333D199_ayush_nov30_3.tar: start in the middle, continue down the hall and then reverse in daylight
+- testing_74725AA6-D3C8-40CD-8019-972387C48EF5_ayush_nov30_3.tar: reversed the path in daylight (cloud anchor didn't resolve)
+- testing_0942DC39-D49D-4FC4-A721-268748280751_ayush_nov30_3.tar: start in pauls lab and go down the hall in daylight
 
-ayush_nov_14_6 - Start in Paul's lab, walk out and to the left in the MAC (going for distance)
-- start point: Ayush ACE #2 (higher window sill near door)
+ayush_nov30_4 - Immediately go out and right from Paul's lab and reverse'
+- start point: Ayush ACE #2 (higher window near door)
 - test: mimics mapping path
-- testing_DB7B5083-3DF2-4B7B-94C3-58092F11AB4D_ayush_nov_14_6.tar : turned opposite direction, should have no localization
-- testing_5F8501A2-AC9B-4E0C-8F47-3B66C6842071_ayush_nov_14_6.tar : started halfway down path, continued to end
-- testing_585B19F6-1149-4406-BD34-042D4EC3E2CC_ayush_nov_14_6.tar : started at end, walked in reverse
+- testing_5C9197A3-C808-4512-897C-E94498D69F71_ayush_nov30_4.tar: walked the path in reverse starting in hallway and went into paul's lab
+- testing_8B4E3C56-4FE0-4201-9DEB-3E158E10C53F_ayush_nov30_4.tar: out and to the left (SHOULD BE BAD?)
+- testing_B66BBDB8-9392-4706-A7B6-5489C4A1CB60_ayush_nov30_4.tar: walked the forward path in daylight
+- testing_F17CD6F2-48AB-420C-8AB7-640582635008_ayush_nov30_4.tar: walked the reverse path in daylight
+- testing_F6183FC7-FA99-4DE8-9D3B-E04F6431BE5D_ayush_nov30_4.tar: walked forward in daylight (lower inlier count)

anchor/backend/data/ace.py

@@ -222,7 +222,7 @@ def process_localization_phase(
                 }
             )
 
-    tmp_pose_path = Path(__file__).parent / "jsons/temp_pose_data.json"
+    tmp_pose_path = Path(__file__).parent / ".cache/jsons/temp_pose_data.json"
     with open(tmp_pose_path, "w") as file:
         json.dump({"data": poses}, file, indent=4)
 
@@ -271,21 +271,21 @@ def process_training_data(combined_path: str, downloader: FirebaseDownloader):
 
     print("[INFO]: Running ace training on dataset path: ", extracted_ace_folder)
     os.chdir(Path(__file__).parent.parent.parent / "third_party/ace")
-    subprocess.run(
-        [
-            "./train_ace.py",
-            extracted_ace_folder.as_posix(),
-            model_output.as_posix(),
-            "--render_visualization",
-            str(visualizer_enabled),
-            "--render_flipped_portrait",
-            str(render_flipped_portrait),
-            "--render_target_path",
-            render_target_path.as_posix(),
-            "--epochs",
-            str(training_epochs),
-        ]
-    )
+    # subprocess.run(
+    #     [
+    #         "./train_ace.py",
+    #         extracted_ace_folder.as_posix(),
+    #         model_output.as_posix(),
+    #         "--render_visualization",
+    #         str(visualizer_enabled),
+    #         "--render_flipped_portrait",
+    #         str(render_flipped_portrait),
+    #         "--render_target_path",
+    #         render_target_path.as_posix(),
+    #         "--epochs",
+    #         str(training_epochs),
+    #     ]
+    # )
 
     print("[INFO]: Running ace evaluation on dataset path: ", extracted_ace_folder)
     run_ace_evaluator(
@@ -315,8 +315,7 @@ def process_training_data(combined_path: str, downloader: FirebaseDownloader):
         print("[INFO]: Moved tar from tarQueue to processedTars directory in firebase")
 
     ace_test_pose_file = (
-        Path(tempfile.gettempdir())
-        / f"benchmark/{Path(tar_name).stem}/ace/poses_ace_.txt"
+        downloader.root_download_dir / f"{Path(tar_name).stem}/ace/poses_ace_.txt"
     )
     process_localization_phase(combined_path, downloader, ace_test_pose_file, True)
 
@@ -372,14 +371,20 @@ def process_testing_data(combined_path: str, downloader: FirebaseDownloader):
     extracted_ace_folder = downloader.local_extraction_location / "ace"
     model_name = Path(combined_path).stem.split("training_")[-1]
     model_name = "_".join(model_name.split("_")[2:])
-    model_data_folder = (
-        Path(tempfile.gettempdir()) / f"benchmark/training_{model_name}/ace"
-    )
-    model_weights_path = model_data_folder / "model.pt"
-    if not model_weights_path.exists():
-        downloader.download_file(
-            f"iosLoggerDemo/trainedModels/{model_name}.pt", model_weights_path
-        )
+
+    for (dir, _, _) in os.walk(downloader.root_download_dir):
+        dir_path = Path(dir)
+        if str(dir_path).endswith(model_name) and dir_path.parts[-1].startswith("training_"):
+            model_data_folder = Path(dir) / "ace"
+            model_weights_path = model_data_folder / "model.pt"
+            break
+    else:
+        raise NotImplementedError
+        # if not model_weights_path.exists():
+        #     downloader.download_file(
+        #         f"iosLoggerDemo/trainedModels/{model_name}.pt", model_weights_path
+        #     )
+
     ace_test_pose_file = model_data_folder / "poses_ace_.txt"
     run_ace_evaluator(
         extracted_ace_folder, model_weights_path, False, True, extracted_ace_folder
@@ -418,7 +423,6 @@ def process_testing_data(combined_path: str, downloader: FirebaseDownloader):
         )
 
         downloader.extract_ios_logger_tar()
-
         if Path(combined_path).parts[-1].startswith("training"):
             process_training_data(combined_path, downloader)
         elif Path(combined_path).parts[-1].startswith("testing"):

anchor/backend/data/firebase.py

@@ -21,14 +21,13 @@ def list_tars():
         initialize_app(cred)
         FirebaseDownloader.initialized = True
     bucket = storage.bucket(FirebaseDownloader.firebase_bucket_name)
-    tar_queue = "iosLoggerDemo/tarQueue/"
+    tar_queue = "iosLoggerDemo/processedTrainingTars/"
     tars = bucket.list_blobs(prefix=tar_queue)
 
     tar_names = []
 
     for tar in tars:
-        print(tar.name)
-        if tar.name.endswith(".tar"):
+        if tar.name.endswith(".tar") and "ayush_april_7" in tar.name:
             tar_names.append(tar.name)
 
     return tar_names
@@ -44,7 +43,7 @@ class FirebaseDownloader:
     initialized: bool = False
 
     # the root of where we download
-    root_download_dir: Path = Path(tempfile.gettempdir()) / "benchmark"
+    root_download_dir: Path = Path(__file__).parent / ".cache/firebase_data"
 
     def __init__(self, firebase_dir: str, tar_name: str):
         # initialize_app should be called only once globally
@@ -103,26 +102,24 @@ def extract_ios_logger_tar(self) -> Path:
                 f"[INFO]: Downloaded tar {self.tar_name} as it has not been found locally"
             )
 
-        # # unpack the tar itself and cleanup and previous extractions
-        # shutil.rmtree(self.local_extraction_location, ignore_errors=True)
-        # shutil.unpack_archive(
-        #     self.local_tar_location, extract_dir=self.local_extraction_location
-        # )
+            shutil.unpack_archive(
+                self.local_tar_location, extract_dir=self.local_extraction_location
+            )
 
         # extract the videos by phase (test videos will not have mapping data so they need to be handled separately)
         if (self.local_extraction_location / "mapping-video.mp4").exists():
-            self.extract_ios_logger_video(
-                self.local_extraction_location / "mapping-video.mp4", True
-            )
+            # self.extract_ios_logger_video(
+            #     self.local_extraction_location / "mapping-video.mp4", True
+            # )
             self.extract_intrinsics(self.local_extraction_location, True)
             self.extract_pose(self.local_extraction_location, True)
             self.extract_april_tags(self.local_extraction_location, True)
             self.extract_google_cloud_anchors(self.local_extraction_location, True)
 
         if (self.local_extraction_location / "localization-video.mp4").exists():
-            self.extract_ios_logger_video(
-                self.local_extraction_location / "localization-video.mp4", False
-            )
+            # self.extract_ios_logger_video(
+            #     self.local_extraction_location / "localization-video.mp4", False
+            # )
             self.extract_intrinsics(self.local_extraction_location, False)
             self.extract_pose(self.local_extraction_location, False)
             self.extract_april_tags(self.local_extraction_location, False)