Fix 3D Detection And 2D Tracking Tests

.github/workflows/test_packages.yml

@@ -43,11 +43,11 @@ jobs:
           - perception/object_detection_2d/retinaface
           - perception/object_detection_2d/nms
           - perception/facial_expression_recognition
-          # - perception/object_detection_3d
+          - perception/object_detection_3d
           # - control/mobile_manipulation
           # - simulation/human_model_generation
           # - control/single_demo_grasp
-          # - perception/object_tracking_3d
+          - perception/object_tracking_3d
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v2
@@ -95,7 +95,7 @@ jobs:
           - control/mobile_manipulation
           - simulation/human_model_generation
           - control/single_demo_grasp
-          # - perception/object_tracking_3d
+          - perception/object_tracking_3d
     runs-on: ${{ matrix.os }}
     steps:
     - name: Set up Python 3.8

bin/install.sh

@@ -39,6 +39,9 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main
 make install_compilation_dependencies
 make install_runtime_dependencies
 
+# Install additional ROS packages
+sudo apt-get install ros-noetic-vision-msgs ros-noetic-audio-common-msgs 
+
 # If working on GPU install GPU dependencies as needed
 if [[ "${OPENDR_DEVICE}" == "gpu" ]]; then
   pip3 uninstall -y mxnet

src/opendr/perception/object_detection_2d/utils/eval_utils.py

@@ -267,7 +267,8 @@ def update(self, det_boxes, det_labels, det_scores, gt_boxes, gt_labels, gt_diff
                 if score < self.score_threshold:
                     continue
                 img_dets.append(np.asarray([image['id'], box[0], box[1], box[2] - box[0], box[3] - box[1], score, cls]))
-            self.detections.append(np.asarray(img_dets))
+            if img_dets:
+                self.detections.append(np.asarray(img_dets))
 
             for box_idx, box in enumerate(gt_boxes[idx, :, :]):
                 cls = gt_labels[idx, box_idx]

src/opendr/perception/object_detection_3d/voxel_object_detection_3d/dependencies.ini

@@ -1,6 +1,7 @@
 [runtime]
 # 'python' key expects a value using the Python requirements file format
 #  https://pip.pypa.io/en/stable/reference/pip_install/#requirements-file-format 
+
 python=torch==1.9.0
        torchvision==0.10.0
        tensorboardX>=2.0

src/opendr/perception/object_detection_3d/voxel_object_detection_3d/second_detector/configs/pointpillars/car/test_short.proto

@@ -8,19 +8,19 @@ model: {
     num_class: 1
     voxel_feature_extractor: {
       module_class_name: "PillarFeatureNet"
-      num_filters: [64]
+      num_filters: [4]
       with_distance: false
     }
     middle_feature_extractor: {
       module_class_name: "PointPillarsScatter"
     }
     rpn: {
       module_class_name: "RPN"
-      layer_nums: [3, 5, 5]
+      layer_nums: [1, 1, 1]
       layer_strides: [2, 2, 2]
-      num_filters: [64, 128, 256]
+      num_filters: [4, 4, 4]
       upsample_strides: [1, 2, 4]
-      num_upsample_filters: [128, 128, 128]
+      num_upsample_filters: [4, 4, 4]
       use_groupnorm: false
       num_groups: 32
     }

src/opendr/perception/object_detection_3d/voxel_object_detection_3d/second_detector/configs/tanet/car/test_short.proto

@@ -16,7 +16,7 @@ model: {
     }
     rpn: {
       module_class_name: "PSA"
-      layer_nums: [3, 5, 5]
+      layer_nums: [1, 1, 1]
       layer_strides: [2, 2, 2]
       num_filters: [64, 128, 256]
       upsample_strides: [1, 2, 4]

src/opendr/perception/object_detection_3d/voxel_object_detection_3d/second_detector/core/geometry.py

@@ -92,6 +92,7 @@ def surface_equ_3d_jit(polygon_surfaces):
     return normal_vec, -d
 
 
+@numba.jit(nopython=False)
 def points_in_convex_polygon_3d_jit(points,
                                     polygon_surfaces,
                                     num_surfaces=None):