H5

CMakeLists.txt

@@ -202,23 +202,25 @@ set(CUDA_LIBS ${CUDA_LIBRARIES} ${CUDA_CUFFT_LIBRARIES})
 include_directories(${PROJECT_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS} ${YAML_CPP_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${HDF5_INCLUDE_DIRS} ${JSONCPP_INCLUDE_DIRS} ${JSONCPP_INCLUDE_DIRS}/json)
 
 add_library(coloradar_lib SHARED
-    src/internal.cpp
-
-    src/utils/basic.cpp
+    src/internal_utils/h5_utils.cpp
+    src/internal_utils/internal_utils.cpp
+    src/utils/basic_utils.cpp
     src/utils/octo_pointcloud.cpp
 
-    src/radar_configs.cpp
-    src/device.cpp
-    src/dataset_configs.cpp
-    src/coloradar_run.cpp
-
-    src/dataset/parent_init.cpp
-    src/dataset/parent_data.cpp
-    src/dataset/parent_export.cpp
-    src/dataset/child_init.cpp
-    src/dataset/child_data.cpp
-
-    src/visualizer.cpp
+    src/configs/radar_configs.cpp
+    src/configs/device.cpp
+    src/configs/dataset_configs.cpp
+
+    src/run/base_run.cpp
+    src/run/h5_run.cpp
+    src/run/coloradar_plus_run.cpp
+    src/run/coloradar_run.cpp
+
+    src/utils/visualizer.cpp
+
+    src/dataset/h5_dataset.cpp
+    src/dataset/coloradar_plus_dataset.cpp
+    src/dataset/coloradar_dataset.cpp
 )
 target_link_libraries(coloradar_lib Threads::Threads ${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES} ${OCTOMAP_LIBRARIES} ${HDF5_LIBRARIES} ${JSONCPP_LIBRARIES})
 install(TARGETS coloradar_lib LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})

examples/docker-compose.yaml

@@ -1,5 +1,5 @@
 x-base-image: &base_image ghcr.io/arpg/coloradar-lib:jazzy
-x-dataset-volume: &dataset_volume ~/coloradar_plus:/data/coloradar
+x-dataset-volume: &dataset_volume ~/data/coloradar_plus:/data/coloradar
 
 
 services:

examples/scripts/build_maps.py

@@ -3,10 +3,10 @@
 
 
 if __name__ == "__main__":
-    dataset = tools.ColoradarDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
+    dataset = tools.ColoradarPlusDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
 
     for run in dataset.get_runs():
-        print('Building octomap for run:', run.name)
+        print('Building octomap for run:', run.name())
         run.create_lidar_octomap(
             map_resolution=0.25, base_to_lidar_transform=dataset.lidar_transform(),
             lidar_total_horizontal_fov=360, lidar_total_vertical_fov=33.2, lidar_max_range=40

examples/scripts/export_dataset.py

@@ -3,5 +3,5 @@
 
 
 if __name__ == "__main__":
-    dataset = tools.ColoradarDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
+    dataset = tools.ColoradarPlusDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
     dataset.export_to_file('/export/export-config.yaml')

examples/scripts/sample_maps.py

@@ -3,7 +3,7 @@
 
 
 if __name__ == "__main__":
-    dataset = tools.ColoradarDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
+    dataset = tools.ColoradarPlusDataset(os.getenv('DOCKER_DATASET_VOLUME_PATH'))
     radar_config = dataset.cascade_config()
 
     # azimuth_max_bin, elevation_max_bin, max_range = 63, 4, 7
@@ -12,7 +12,7 @@
     horizontal_fov, vertical_fov, max_range = 156.6, 32.2, 7
     print(f'Sampling lidar map in cascade FOV: {horizontal_fov} degrees azimuth, {vertical_fov} degrees elevation, {max_range} meters range.')
     for run in dataset.get_runs():
-        print(f'Processing {run.name}...')
+        print(f'Processing {run.name()}...')
         run.create_map_samples(
             sensor_timestamps=run.cascade_timestamps(), base_to_sensor_transform=dataset.cascade_transform(),
             horizontal_fov=horizontal_fov, vertical_fov=vertical_fov, range=max_range

export-config-template.yaml

@@ -1,7 +1,7 @@
 global:
   runs: all
   destination_file: dataset.h5
-  export_transforms: False
+  export_transforms: True
 
 
 devices:
@@ -37,7 +37,7 @@ devices:
 
     # - point clouds
     export_clouds: False
-    # relative intensity per frame
+    # absolute intensity value per frame
     intensity_threshold: 0
     # False for ego-centric clouds
     clouds_in_global_frame: True
@@ -80,7 +80,7 @@ devices:
     force_resample: False
     # True to save the samples on disk. Will overwrite any existing samples
     save_samples: False
-    # sampling perspective options: base, lidar, cascade
+    # sampling perspective options: base, lidar, cascade_radar
     center_sensor: cascade_radar
     map_sample_fov:
       horizontal_degrees_total: 360
@@ -94,12 +94,14 @@ devices:
 
 
   imu:
-    export_data: False
     export_poses: False
     export_timestamps: False
 
+    # TBD
+    export_data: False
+
 
-  # WARNING: only present in dataset v1
+  # WARNING: TBD, only for dataset v1
   single_chip_radar:
     export_poses: False
     export_timestamps: False

include/dataset_configs.h → include/configs/dataset_configs.h

@@ -1,7 +1,7 @@
 #ifndef DATASET_CONFIGS_H
 #define DATASET_CONFIGS_H
 
-#include "device.h"
+#include "configs/device.h"
 
 
 namespace coloradar {
@@ -10,7 +10,7 @@ class DatasetExportConfig {
 protected:
     std::filesystem::path destinationFilePath_ = "dataset.h5";
     std::vector<std::string> runs_ = {};
-    bool exportTransforms_ = false;
+    bool exportTransforms_ = true;
     std::span<const std::unique_ptr<BaseDevice>> devices_;
 
     RadarExportConfig        cascadeCfg_;
@@ -32,7 +32,7 @@ class DatasetExportConfig {
     DatasetExportConfig(
         const std::filesystem::path &destinationFilePath = "dataset.h5",
         const std::vector<std::string> &runs = {},
-        bool exportTransforms = false,
+        bool exportTransforms = true,
         const RadarExportConfig &cascadeCfg = RadarExportConfig(),
         const LidarExportConfig &lidarCfg = LidarExportConfig(),
         const BaseExportConfig &baseCfg = BaseExportConfig(),

include/device.h → include/configs/device.h

@@ -1,7 +1,7 @@
 #ifndef DEVICE_H
 #define DEVICE_H
 
-#include "utils.h"
+#include "utils/utils.h"
 
 
 namespace coloradar {

include/radar_configs.h → include/configs/radar_configs.h

@@ -1,7 +1,7 @@
 #ifndef RADAR_CONFIGS_H
 #define RADAR_CONFIGS_H
 
-#include "utils.h"
+#include "utils/utils.h"
 
 
 namespace coloradar {
@@ -75,8 +75,10 @@ class RadarConfig {
 
     RadarConfig(const int& nAzimuthBeams = 1, const int& nElevationBeams = 1) : numAzimuthBeams(nAzimuthBeams), numElevationBeams(nElevationBeams) {};
     RadarConfig(const RadarConfig& other) = default;
+    virtual ~RadarConfig() = default;
 
     Json::Value toJson() const;
+    void fromJson(const Json::Value& root);          
     void fromJson(const std::string& jsonString);
 
     const int& nRangeBins() const;  // abstracted as a method because distinction between numRangeBins and numPosRangeBins may be unclear
@@ -94,20 +96,21 @@ class RadarConfig {
     int verticalFovToElevationIdx(const float& verticalFov);
     int rangeToRangeIdx(const float& range);
 
-    std::vector<float> clipHeatmap(const std::vector<float>& heatmap, int azimuthMaxBin, int elevationMaxBin, int rangeMaxBin, bool updateConfig = true);
-    std::vector<float> clipHeatmap(const std::vector<float>& heatmap, float horizontalFov, float verticalFov, float range, bool updateConfig = true);
-    std::vector<float> collapseHeatmapElevation(const std::vector<float>& image, const float& elevationMinMeters = -100.0, const float& elevationMaxMeters = 100.0, bool updateConfig = true);
-    std::vector<float> removeDoppler(const std::vector<float>& image, bool updateConfig = true);
-    std::vector<float> swapHeatmapDimensions(const std::vector<float>& heatmap);
-    pcl::PointCloud<RadarPoint>::Ptr heatmapToPointcloud(const std::vector<float>& heatmap, const double intensityThreshold = 0.0) const;
-    void precomputePointcloudTemplate();  // call for correct point cloud conversion if config parameters changed
+    std::shared_ptr<std::vector<float>> clipHeatmap(const std::shared_ptr<std::vector<float>>& heatmap, int azimuthMaxBin, int elevationMaxBin, int rangeMaxBin, bool updateConfig = true);
+    std::shared_ptr<std::vector<float>> clipHeatmap(const std::shared_ptr<std::vector<float>>& heatmap, float horizontalFov, float verticalFov, float range, bool updateConfig = true);
+    std::shared_ptr<std::vector<float>> collapseHeatmapElevation(const std::shared_ptr<std::vector<float>>& image, const float& elevationMinMeters = -100.0, const float& elevationMaxMeters = 100.0, bool updateConfig = true);
+    std::shared_ptr<std::vector<float>> removeDoppler(const std::shared_ptr<std::vector<float>>& image, bool updateConfig = true);
+    std::shared_ptr<std::vector<float>> swapHeatmapDimensions(const std::shared_ptr<std::vector<float>>& heatmap);
+    pcl::PointCloud<RadarPoint>::Ptr heatmapToPointcloud(const std::shared_ptr<std::vector<float>>& heatmap, const double intensityThreshold = 0.0) const;
+    void precomputePointcloudTemplate();  // call to ensure correct heatmap->pointcloud conversion if config parameters change
 };
 
 
 class SingleChipConfig : public RadarConfig {
 public:
     SingleChipConfig() = default;
     SingleChipConfig(const std::filesystem::path& calibDir, const int& nAzimuthBeams = 64, const int& nElevationBeams = 8);
+    explicit SingleChipConfig(const Json::Value& root) { fromJson(root); }
 
 protected:
     void init(const std::filesystem::path& calibDir) override;
@@ -118,6 +121,7 @@ class CascadeConfig : public RadarConfig {
 public:
     CascadeConfig() = default;
     CascadeConfig(const std::filesystem::path& calibDir, const int& nAzimuthBeams = 128, const int& nElevationBeams = 32);
+    explicit CascadeConfig(const Json::Value& root) { fromJson(root); }
 
 protected:
     void init(const std::filesystem::path& calibDir) override;

include/cuda/coloradar_cuda.h

@@ -1,7 +1,7 @@
 #ifndef COLORADAR_CUDA_H
 #define COLORADAR_CUDA_H
 
-#include "coloradar_tools.h"
+#include "main.h"
 #include "cuda/kernels.h"
 
 #include <cuda_runtime.h>