1. fix cdn integrity problem

2. add screenshot for web kitti viewer
3. add other config, this can get 88.20 AP on bev moderate.

README.md

@@ -27,6 +27,14 @@ bev  AP:90.12, 87.87, 86.77
 3d   AP:88.62, 78.31, 76.62
 ```
 
+```car.fhd.onestage.config``` + 50 epochs + super converge (6.5 hours) +  (25 fps in 1080Ti):
+
+```
+Car [email protected], 0.70, 0.70:
+bbox AP:97.65, 89.59, 88.72
+bev  AP:90.38, 88.20, 86.98
+3d   AP:89.16, 78.78, 77.41
+```
 
 ## Install
 

second/configs/car.fhd.onestage.config

@@ -0,0 +1,190 @@
+model: {
+  second: {
+    voxel_generator {
+      point_cloud_range : [0, -40, -3, 70.4, 40, 1]
+      # point_cloud_range : [0, -32.0, -3, 52.8, 32.0, 1]
+      voxel_size : [0.05, 0.05, 0.1]
+      max_number_of_points_per_voxel : 5
+    }
+
+    voxel_feature_extractor: {
+      module_class_name: "VoxelFeatureExtractorV3"
+      num_filters: [16]
+      with_distance: false
+      num_input_features: 4
+    }
+    middle_feature_extractor: {
+      module_class_name: "SpMiddleFHD"
+      # num_filters_down1: [] # protobuf don't support empty list.
+      # num_filters_down2: []
+      downsample_factor: 8
+      num_input_features: 4
+    }
+    rpn: {
+      module_class_name: "RPNV2"
+      layer_nums: [5]
+      layer_strides: [1]
+      num_filters: [128]
+      upsample_strides: [1]
+      num_upsample_filters: [128]
+      use_groupnorm: false
+      num_groups: 32
+      num_input_features: 128
+    }
+    loss: {
+      classification_loss: {
+        weighted_sigmoid_focal: {
+          alpha: 0.25
+          gamma: 2.0
+          anchorwise_output: true
+        }
+      }
+      localization_loss: {
+        weighted_smooth_l1: {
+          sigma: 3.0
+          code_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+        }
+      }
+      classification_weight: 1.0
+      localization_weight: 2.0
+    }
+    # Outputs
+    use_sigmoid_score: true
+    encode_background_as_zeros: true
+    encode_rad_error_by_sin: true
+
+    use_direction_classifier: true # this can help for orientation benchmark
+    direction_loss_weight: 0.2 # enough.
+    use_aux_classifier: false
+    # Loss
+    pos_class_weight: 1.0
+    neg_class_weight: 1.0
+
+    loss_norm_type: NormByNumPositives
+    # Postprocess
+    post_center_limit_range: [0, -40, -3.0, 70.4, 40, 0.0]
+    use_rotate_nms: true
+    use_multi_class_nms: false
+    nms_pre_max_size: 1000
+    nms_post_max_size: 100
+    nms_score_threshold: 0.3
+    nms_iou_threshold: 0.01
+
+    use_bev: false
+    num_point_features: 4
+    without_reflectivity: false
+    box_coder: {
+      ground_box3d_coder: {
+        linear_dim: false
+        encode_angle_vector: false
+      }
+    }
+    target_assigner: {
+      anchor_generators: {
+        anchor_generator_range: {
+          sizes: [1.6, 3.9, 1.56] # wlh
+          anchor_ranges: [0, -40.0, -1.78, 70.4, 40.0, -1.78] # carefully set z center
+          rotations: [0, 1.57] # DON'T modify this unless you are very familiar with my code.
+          matched_threshold : 0.6
+          unmatched_threshold : 0.45
+          class_name: "Car"
+        }
+      }
+      sample_positive_fraction : -1
+      sample_size : 512
+      region_similarity_calculator: {
+        nearest_iou_similarity: {
+        }
+      }
+    }
+  }
+}
+
+
+train_input_reader: {
+  max_num_epochs : 160
+  batch_size: 6
+  prefetch_size : 25
+  max_number_of_voxels: 16000 # to support batchsize=2 in 1080Ti
+  shuffle_points: true
+  num_workers: 3
+  groundtruth_localization_noise_std: [1.0, 1.0, 0.5]
+  # groundtruth_rotation_uniform_noise: [-0.3141592654, 0.3141592654]
+  # groundtruth_rotation_uniform_noise: [-1.57, 1.57]
+  groundtruth_rotation_uniform_noise: [-0.78539816, 0.78539816]
+  global_rotation_uniform_noise: [-0.78539816, 0.78539816]
+  global_scaling_uniform_noise: [0.95, 1.05]
+  global_random_rotation_range_per_object: [0, 0] # pi/4 ~ 3pi/4
+  anchor_area_threshold: -1
+  remove_points_after_sample: true
+  groundtruth_points_drop_percentage: 0.0
+  groundtruth_drop_max_keep_points: 15
+  database_sampler {
+    database_info_path: "/media/yy/My Passport/datasets/kitti/kitti_dbinfos_train.pkl"
+    sample_groups {
+      name_to_max_num {
+        key: "Car"
+        value: 15
+      }
+    }
+    database_prep_steps {
+      filter_by_min_num_points {
+        min_num_point_pairs {
+          key: "Car"
+          value: 5
+        }
+      }
+    }
+    database_prep_steps {
+      filter_by_difficulty {
+        removed_difficulties: [-1]
+      }
+    }
+    global_random_rotation_range_per_object: [0, 0]
+    rate: 1.0
+  }
+
+  remove_unknown_examples: false
+  remove_environment: false
+  kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_train.pkl"
+  kitti_root_path: "/media/yy/My Passport/datasets/kitti"
+}
+
+train_config: {
+  optimizer: {
+    adam_optimizer: {
+      learning_rate: {
+        one_cycle: {
+          lr_max: 3e-3
+          moms: [0.95, 0.85]
+          div_factor: 10.0
+          pct_start: 0.4
+        }
+      }
+      weight_decay: 0.01 # super converge. decrease this when you increase steps.
+    }
+    fixed_weight_decay: true
+    use_moving_average: false
+  }
+  steps: 30950 # 619 * 50, super converge. increase this to achieve slightly better results
+  steps_per_eval: 3095 # 619 * 5
+  save_checkpoints_secs : 1800 # half hour
+  save_summary_steps : 10
+  enable_mixed_precision: false # for fp16 training, don't use this.
+  loss_scale_factor : 512.0
+  clear_metrics_every_epoch: true
+}
+
+eval_input_reader: {
+  batch_size: 6
+  max_num_epochs : 160
+  prefetch_size : 25
+  max_number_of_voxels: 40000
+  shuffle_points: false
+  num_workers: 3
+  anchor_area_threshold: -1
+  remove_environment: false
+  kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_val.pkl"
+  # kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_test.pkl"
+  kitti_root_path: "/media/yy/My Passport/datasets/kitti"
+}

second/kittiviewer/frontend/index.html

@@ -11,24 +11,24 @@
     <title>SECOND Kitti Viewer</title>
     <script src="https://code.jquery.com/jquery-3.3.1.min.js" integrity="sha384-tsQFqpEReu7ZLhBV2VZlAu7zcOV+rXbYlF2cqB8txI/8aZajjp4Bqd+V6D5IgvKT"
         crossorigin="anonymous"></script>
+    <script>window.jQuery || document.write('<script src="js/libs/jquery-3.3.1.min.js">\x3C/script>');</script>
     <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.12.9/umd/popper.min.js" integrity="sha384-ApNbgh9B+Y1QKtv3Rn7W3mgPxhU9K/ScQsAP7hUibX39j7fakFPskvXusvfa0b4Q"
         crossorigin="anonymous"></script>
     <script src="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0/js/bootstrap.min.js" integrity="sha384-JZR6Spejh4U02d8jOt6vLEHfe/JQGiRRSQQxSfFWpi1MquVdAyjUar5+76PVCmYl"
         crossorigin="anonymous"></script>
+
     <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/98/three.js" integrity="sha384-BMOR44t8p+yL7NVevEC9pO2y26JB6lv1mKFhit2zvzWq5jZo6RpIcTdg6MUxKQRP"
         crossorigin="anonymous"></script>
     <script src="https://cdnjs.cloudflare.com/ajax/libs/dat-gui/0.7.3/dat.gui.js" integrity="sha384-S7m8CpjFEEXwHzEDZ8XdeFSO0rLzdK8x1e7pLuc2hx5Xr23XnaWvb0p/kIez3mxy"
         crossorigin="anonymous"></script>
     <script src="https://cdnjs.cloudflare.com/ajax/libs/mathjs/5.3.0/math.js" integrity="sha384-YILGCrKtrx9ucVIp2iNy85HZcWysS6pXa+tAW+Jbgxoi3TJJSCrg0fJG5C0AJzJO"
         crossorigin="anonymous"></script>
-    <script src="https://cdnjs.cloudflare.com/ajax/libs/stats.js/r16/Stats.min.js" integrity="sha384-JIMCcCVEupQBEb9e6o4OAccqY004Vm2uYnOzOlJCyyy/Tl3fVxU/nq2gUimNdloP"
-        crossorigin="anonymous"></script>
     <link href="https://cdn.jsdelivr.net/npm/[email protected]/dist/jspanel.css" rel="stylesheet" />
     <!-- jsPanel JavaScript -->
     <script src="https://cdn.jsdelivr.net/npm/[email protected]/dist/jspanel.js" integrity="sha384-2F3fGv9PeamJMmqDMSollVdfQqFsLLru6E0ed+AOHOq3tB2IyUDSyllqrQJqx2vp"
         crossorigin="anonymous"></script>
-    <script src="https://cdn.jsdelivr.net/npm/js-cookie@2/src/js.cookie.min.js" integrity="sha384-8kKqrPvADL3/ZYJGtcqeG+fveXaJxTaI7LF1/a9QGZpkRVZSurP858KKE6rtnLLs"
-        crossorigin="anonymous"></script>
+    <script src="https://cdn.jsdelivr.net/npm/js-cookie@2/src/js.cookie.min.js" integrity="sha384-R4v5onSW2o3yhiPYUPN9ssGd9OmZdGRIdLmZgGst3fp0NhJDxYSSErv0YzWdeC/l" crossorigin="anonymous"></script>
+    <script>window.Cookies || document.write('<script src="js/libs/js.cookie.min.js">\x3C/script>');</script>
 
     <script src="js/MapControls.js"></script>
     <script src="js/SimplePlot.js"></script>
@@ -79,7 +79,8 @@
 
 
         var renderer = new THREE.WebGLRenderer({
-            antialias: true
+            antialias: true,
+            preserveDrawingBuffer: true
         });
         renderer.setPixelRatio(window.devicePixelRatio);
         renderer.setSize(window.innerWidth, window.innerHeight);
@@ -319,6 +320,10 @@
         kittiGui.add(viewer, "prev");
         */
         kittiGui.add(viewer, "inference");
+        viewer.screenshot = function(){
+            viewer.saveAsImage(renderer);
+        };
+        kittiGui.add(viewer, "screenshot");
         kittiGui.open();
         var postGui = gui.addFolder("effect");
         postGui.add(postParams, "exposure", 0.1, 2).onChange(function (value) {

second/kittiviewer/frontend/js/KittiViewer.js

@@ -2,7 +2,7 @@ var KittiViewer = function (pointCloud, logger, imageCanvas) {
     this.rootPath = "/path/to/kitti";
     this.infoPath = "/path/to/infos.pkl";
     this.detPath = "/path/to/results.pkl";
-    this.backend = "http://127.0.0.1:7000";
+    this.backend = "http://127.0.0.1:16666";
     this.checkpointPath = "/path/to/tckpt";
     this.configPath = "/path/to/config";
     this.drawDet = false;
@@ -340,5 +340,30 @@ KittiViewer.prototype = {
         };
         image.src = this.image;
 
+    },
+    saveAsImage: function(renderer) {
+        var imgData, imgNode;
+        try {
+            var strMime = "image/jpeg";
+            var strDownloadMime = "image/octet-stream";
+            imgData = renderer.domElement.toDataURL(strMime);
+            this.saveFile(imgData.replace(strMime, strDownloadMime), `pc_${this.imageIndex}.jpg`);
+        } catch (e) {
+            console.log(e);
+            return;
+        }
+    },
+    saveFile : function (strData, filename) {
+        var link = document.createElement('a');
+        if (typeof link.download === 'string') {
+            document.body.appendChild(link); //Firefox requires the link to be in the body
+            link.download = filename;
+            link.href = strData;
+            link.click();
+            document.body.removeChild(link); //remove the link when done
+        } else {
+            location.replace(uri);
+        }
     }
+
 }