remove debug print in benchmarking.

Summary:
1. Remove a debug print.
2. Removed depth_anything code in SAM2 example.
3. Added Data Store config yaml files to data/

Reviewed By: echo-xiao9

Differential Revision: D63293449

fbshipit-source-id: a1073c02e8760a2a58e7d05dc8250cbb6c581618

data/atek_data_store_confs/AriaDigitalTwin_cubercnn_config.yaml

@@ -0,0 +1,33 @@
+atek_config_name: "cubercnn"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 1
+  stride_length_in_num_frames: 2
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_camera: true  # if set, undistort to a linear camera model
+    target_camera_resolution: [] # if set, rescale to [image_width, image_height]
+    rotate_image_cw90deg: true  # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: false 
+  slam_right:
+    selected: false 
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: false
+  obb_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: prototype_name # {prototype_name, category}
+    bbox2d_num_samples_on_edge: 10
+wds_writer:
+  prefix_string: "AdtPublicRelease2023"
+  max_samples_per_shard: 32

data/atek_data_store_confs/AriaDigitalTwin_efm_config.yaml

@@ -0,0 +1,53 @@
+atek_config_name: "efm"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 20
+  stride_length_in_num_frames: 10
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_cam: false  # if set, undistort to a linear camera model
+    target_camera_resolution: [240, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+    rotate_image_cw90deg: false # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: true
+    sensor_label: "camera-slam-left"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  slam_right:
+    selected: true
+    sensor_label: "camera-slam-right"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: true
+    tolerance_ns: 10_000_000
+  rgb_depth:
+    selected: true
+    # depth_stream_type_id: "214" # 214 for ASE data
+    depth_stream_id: "345-1" # 345-1 for ADT data
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    convert_zdepth_to_distance: true
+    unit_scaling: 0.001 # for ADT and ASEv1 data, convert from mm to meters
+  efm_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: prototype_name # {prototype_name, category}
+wds_writer:
+  prefix_string: ""
+  max_samples_per_shard: 8
+  remove_last_tar_if_not_full: true

data/atek_data_store_confs/AriaSyntheticEnvironment_cubercnn_config.yaml

@@ -0,0 +1,33 @@
+atek_config_name: "cubercnn"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 1
+  stride_length_in_num_frames: 2
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_camera: true  # if set, undistort to a linear camera model
+    target_camera_resolution: [] # if set, rescale to [image_width, image_height]
+    rotate_image_cw90deg: true  # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: false 
+  slam_right:
+    selected: false 
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: false
+  obb_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: category # {prototype_name, category}
+    bbox2d_num_samples_on_edge: 10
+wds_writer:
+  prefix_string: "AsePublicRelease2023"
+  max_samples_per_shard: 32

data/atek_data_store_confs/AriaSyntheticEnvironment_cubercnn_eval_config.yaml

@@ -0,0 +1,33 @@
+atek_config_name: "cubercnn_eval"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 1
+  stride_length_in_num_frames: 1
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_camera: true  # if set, undistort to a linear camera model
+    target_camera_resolution: [] # if set, rescale to [image_width, image_height]
+    rotate_image_cw90deg: true  # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: false 
+  slam_right:
+    selected: false 
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: false
+  obb_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: category # {prototype_name, category}
+    bbox2d_num_samples_on_edge: 10
+wds_writer:
+  prefix_string: "AsePublicRelease2023"
+  max_samples_per_shard: 32

data/atek_data_store_confs/AriaSyntheticEnvironment_efm_config.yaml

@@ -0,0 +1,53 @@
+atek_config_name: "efm"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 20
+  stride_length_in_num_frames: 10
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_cam: false  # if set, undistort to a linear camera model
+    target_camera_resolution: [240, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+    rotate_image_cw90deg: false # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: true
+    sensor_label: "camera-slam-left"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  slam_right:
+    selected: true
+    sensor_label: "camera-slam-right"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: true
+    tolerance_ns: 10_000_000
+  rgb_depth:
+    selected: true
+    depth_stream_type_id: "214" # 214 for ASE data
+    # depth_stream_id: "345-1" # 345-1 for ADT data
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    convert_zdepth_to_dist: false
+    unit_scaling: 0.001 # for ADT and ASEv1 data, convert from mm to meters
+  efm_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: category # {prototype_name, category}
+wds_writer:
+  prefix_string: ""
+  max_samples_per_shard: 8
+  remove_last_tar_if_not_full: true

data/atek_data_store_confs/AriaSyntheticEnvironment_efm_eval_config.yaml

@@ -0,0 +1,53 @@
+atek_config_name: "efm_eval"
+camera_temporal_subsampler:
+  main_camera_label: "camera-rgb"
+  time_domain: "DEVICE_TIME"
+  main_camera_target_freq_hz: 10.0
+  sample_length_in_num_frames: 20
+  stride_length_in_num_frames: 10
+processors:
+  rgb:
+    selected: true
+    sensor_label: "camera-rgb"
+    time_domain: "DEVICE_TIME"
+    tolerance_ns: 10_000_000
+    undistort_to_linear_cam: false  # if set, undistort to a linear camera model
+    target_camera_resolution: [240, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+    rotate_image_cw90deg: false # if set, rotate image by 90 degrees clockwise
+  slam_left:
+    selected: true
+    sensor_label: "camera-slam-left"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  slam_right:
+    selected: true
+    sensor_label: "camera-slam-right"
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    target_camera_resolution: [320, 240] # if set, rescale to [image_width, image_height]
+    rescale_antialias: false # to be consistent with cv2
+  mps_traj:
+    selected: true
+    tolerance_ns: 10_000_000
+  mps_semidense:
+    selected: true
+    tolerance_ns: 10_000_000
+  rgb_depth:
+    selected: true
+    depth_stream_type_id: "214" # 214 for ASE data
+    # depth_stream_id: "345-1" # 345-1 for ADT data
+    tolerance_ns: 10_000_000
+    time_domain: "DEVICE_TIME"
+    convert_zdepth_to_dist: false
+    unit_scaling: 0.001 # for ADT and ASEv1 data, convert from mm to meters
+  efm_gt:
+    selected: true
+    tolerance_ns : 10_000_000
+    category_mapping_field_name: category # {prototype_name, category}
+wds_writer:
+  prefix_string: ""
+  max_samples_per_shard: 8
+  remove_last_tar_if_not_full: true

examples/Demo_4_Sam2_example.ipynb

@@ -46,15 +46,10 @@
         "from atek.data_loaders.sam2_model_adaptor import (\n",
         "    create_atek_dataloader_as_sam2\n",
         ")\n",
-        "from atek.data_loaders.sam2_model_adaptor import (\n",
-        "    create_atek_dataloader_as_depth_anything2\n",
-        ")\n",
         "from sam2.build_sam import build_sam2\n",
         "from sam2.sam2_image_predictor import SAM2ImagePredictor\n",
         "from webdataset.filters import pipelinefilter\n",
         "\n",
-        "from depth_anything_v2.dpt import DepthAnythingV2\n",
-        "\n",
         "# Data path setup, follow Demo 2 to prepare streamable_validat_tars file.\n",
         "streamable_atek_yaml_file = \"./streamable_validation_tars.yaml\"\n",
         "\n",

tools/benchmarking_surface_reconstruction.py

@@ -94,9 +94,7 @@ def main() -> None:
             correct_mesh_gravity=args.is_adt_mesh,
         )
 
-        # for testing only
         logger.info(f" metrics results is {metrics}")
-        print_obb3_metrics_to_logger(metrics)
 
     # Write metrics results to file
     with open(args.output_file, "w") as f: