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Add TbV log clustering by scene (i.e. spatial location). #26

Merged
merged 10 commits into from
Apr 12, 2022
Merged

Add TbV log clustering by scene (i.e. spatial location). #26

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c5b0d63
add scene clusters
Mar 26, 2022
19acac8
improve docstring
Mar 26, 2022
a6787bb
reformat python black
Mar 26, 2022
fc24fd5
improve docstrings
Mar 26, 2022
59b8f71
switch to tuples, instead of lists, to indicate static data
Mar 27, 2022
48b7bfd
revert to List[str] instead of Tuple[str,...]
Mar 27, 2022
8f7789e
Update scene_clusters.py
benjaminrwilson Apr 3, 2022
29330c8
Update scene_clusters.py
benjaminrwilson Apr 12, 2022
713d8a1
Update io.py
benjaminrwilson Apr 12, 2022
2a832bc
Update io.py
benjaminrwilson Apr 12, 2022
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356 changes: 356 additions & 0 deletions src/av2/datasets/tbv/scene_clusters.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,356 @@
# <Copyright 2022, Argo AI, LLC. Released under the MIT license.>

"""Clustering of TbV vehicle logs, by spatial location (scene).

Note:
- Each log within a cluster shares some significant visual overlap with other logs within its cluster.
- These are not before/after pairs. In some cases, all logs in a cluster may be "after" a change.
- Each cluster has at least one log in the val or test set.
- Logs within each cluster are provided in chronological order.
"""


ATX_CLUSTERS = {
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Suggested change
ATX_CLUSTERS = {
ATX_CLUSTERS: Final[Dict[int, Tuple[str, ...]]] = {

My suggestion is to make these map from int to tuples of strs since they're static data.

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Good call @benjaminrwilson. Just updated to make this change.

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Actually, looks like mypy interprets 1: ("mystring") as int: str instead of int: Tuple[str,...].

src/av2/datasets/tbv/scene_clusters.py:20: error: Dict entry 2 has incompatible type "int": "str"; expected "int": "Tuple[str, ...]"
src/av2/datasets/tbv/scene_clusters.py:21: error: Dict entry 3 has incompatible type "int": "str"; expected "int": "Tuple[str, ...]"
src/av2/datasets/tbv/scene_clusters.py:26: error: Dict entry 5 has incompatible type "int": "str"; expected "int": "Tuple[str, ...]"

I think I'll have to revert it.

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Wouldn't we need to add a comma for a tuple literal?

E.g., 1: ("mystring",)

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I see, yeah. I think that's a bit uglier though. I would prefer we keep it as list.

1: ["yrQZTJSIjWgFJ3CNE9H4KL1p1QgFmrfb__Spring_2020", "Fu5LS0Rw8Fu80C1NagC4A3deS8mgVt7b__Summer_2020"],
2: [
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],
3: ["X4zQYzXVLTQ6zlvX85RNExX833eTCXBy__Summer_2020"],
4: ["fnX5fTajNRYrkvTe3kgPEcqGND6xoJ83__Summer_2020"],
5: [
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],
6: ["d6GIXhzvM5asQxBYlp9K2oXC0yS9CTc3__Winter_2021"],
7: ["yoVO4riYwUN33RkD1jzX4UNaLaPJ4WwY__Winter_2021"],
8: ["QCgniBLhqw9yE7xHcNJ6Eud6cvxx9Q2c__Autumn_2020"],
9: ["ICcruTEH4V7xOTkYXre6rY6CI1rOIwym__Winter_2021"],
10: ["HzDHGixXphRTwTPVaiBa7r5i0pmw4uO2__Summer_2020"],
11: ["af170aac84653d7b82c564147e94af7d__Summer_2020"],
}

PIT_CLUSTERS = {
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# DOWNTOWN PITT under bridge, crosshatching gone
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18: ["Mp9dxH3TBKOIJ5uhSsUtuYDwicigLqgU__Autumn_2020"],
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}

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],
43: ["FfRsLioLHgbMgCLGKs8YAIHrExaYp3YP__Summer_2020"],
44: ["oxtpIablm3xjNLGDEsFA0to1xzsptvZJ__Autumn_2020"],
45: ["Vt5DOhIJC86BMPS5PKd7zg4Mk8ipMjXA__Winter_2020"],
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48: ["zQ06g8U26AU3pRHhzNxLPm340nOybscg__Spring_2020"],
49: ["WY0cVNmhg7LtAs5Eny78Csltv2tbjdsd__Winter_2021"],
50: ["01bb304d7bd835f8bbef7086b688e35e__Summer_2019"],
}

DTW_CLUSTERS = {
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],
5: [
"5irmKvMAXQjJjUCC4VFT1FC7qsI8a4Kg__Summer_2020",
"vyWiJxFSWgVvk5Yd3KVeyGKauOLypJnC__Summer_2020",
"HGDGffqH58I2WAoFYKuTr1OYts3JWk4j__Summer_2020",
"PRRmJxg1eSDS95RprHX0M1Ord3OCMcsg__Summer_2020",
"s9aRUw1JDzPZPRmcx2h0wQCO2cerF66I__Autumn_2020",
"b86c6b2e0ed64f4f89f43c1b00391731__Autumn_2020",
"gu2UwLc2nU5YgX6tzcmfbqpPXWTngAOt__Autumn_2020",
"42d1b09f89cd4e1d866eff93fd05b80f__Autumn_2020",
"DKJk1QVisLulVf1jAvxijRTN33EBkgUE__Autumn_2020",
"Dgs3UYZvrcojLDw0QLWmD24dPn0jAXhC__Autumn_2020",
],
6: ["aEEUxFn6Gm6XeqV4rLA9esoNpYUhs2Ql__Summer_2020"],
7: ["8pOtV4RsIeb0byPPCM6212tiiGNUvCyB__Summer_2020"],
8: [
"zRVrsPX6zQD7NKHIuBs4h5SgijdoNpKw__Autumn_2020",
"3V9lgpdSQfTMXj3HjG2yt2gDbkcTK0v1__Winter_2021",
"WwiugaY1H3aulOMXUCHbFTZKLDoqWuNP__Winter_2021",
"cAstq5i3iTdHouG6HZh90LdA6BMbTW2A__Winter_2021",
],
9: ["GJ2Kd0JBW2QQKEst8XefgaKKKOjb5RoX__Summer_2020", "5c2322b6817b4bdd8a23a43244e712c0__Summer_2020"],
10: ["FJVcWS3nQWkh9XU4TJzmCvaOXlByM947__Summer_2020", "XE3HUDWFcKhT1LcGp8GS8HacmMmok9dc__Autumn_2020"],
11: ["MVnyJgZdDbxqbQu9h9Q8kSjbziatTgxa__Autumn_2020"],
12: ["rdWmCWPFNUuwwh9MBpEKzOEqJsmMuuyk__Winter_2021"],
13: [
"i47t2l9q6nJQNDFbD6iI0MrQ11yq4JNB__Autumn_2020",
"2135a974fc804227843bd33514afbf5a__Autumn_2020",
],
14: ["G6HCUIYJ0crBy1BbY5z5zx1OtCA8NZF0__Summer_2020"],
15: ["75e8adad50a6324587265e612db3d165__Autumn_2019"],
16: [
"B1Ja9WqVlz5CAkSv2xsaiJK6KQq6egiT__Spring_2020",
"79O52mmzE8VvjKQy2P1U9qywm2tneeXS__Autumn_2020",
"sYzy2sKcm1qvahStIJf8h4Pl7HBEma7x__Autumn_2020",
"r86GRA2V3jgD7pswTLq6NLJJBQqq2EMs__Autumn_2020",
],
}

PAO_CLUSTERS = {
1: ["KH70lsYpeBe1I2TqKoD4V5AKJXfcCfpO__Summer_2020"],
2: ["X3zP8oWJB4ivWYkbv6X9dw2mc1lRsceY__Summer_2020"],
3: ["TOQaS7eCZB2ns552jjhmQoPs2MbdkgC6__Summer_2020"],
4: [
"Nr6t0auYyTEC42fJNIqhkaSasyGjfV6E__Autumn_2020",
"jDONAwGVoVt9Ml4ZQW3FaTgDuhIlnAnt__Autumn_2020",
"cJiXgBbopBsjrK8AE9GuHcuJCAGsHodO__Autumn_2020",
],
5: ["453e5558636338e3bf9b42b5ba0a6f1d__Summer_2020"],
}

TBV_LOG_CLUSTERS = {
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"ATX": ATX_CLUSTERS,
"MIA": MIA_CLUSTERS,
"PIT": PIT_CLUSTERS,
"WDC": WDC_CLUSTERS,
"PAO": PAO_CLUSTERS,
"DTW": DTW_CLUSTERS,
}