add supporting code for the stereo competition

[jhonykaesemodel]

Add supporting code for the stereo competition. New stereo data loader, stereo evaluation, Jupyter notebook for tutorial, etc.

[johnwlambert]

I believe some tests are failing in CI:

=================================== FAILURES ===================================
__________________________ test_image_timestamp_list ___________________________

data_loader = <argoverse.data_loading.argoverse_stereo_loader.ArgoverseStereoLoader object at 0x7fb572254780>

    def test_image_timestamp_list(data_loader: ArgoverseStereoLoader) -> None:
        assert set(data_loader.image_timestamp_list.keys()) == set(STEREO_CAMERA_LIST)
        for camera in STEREO_CAMERA_LIST[3:]:
>           assert 1 in data_loader.image_timestamp_list[camera]
E           assert 1 in []

tests/test_argoverse_stereo_loader.py:38: AssertionError
__________________________ test_timestamp_image_dict ___________________________

data_loader = <argoverse.data_loading.argoverse_stereo_loader.ArgoverseStereoLoader object at 0x7fb572278748>

    def test_timestamp_image_dict(data_loader: ArgoverseStereoLoader) -> None:
        assert set(data_loader.timestamp_image_dict.keys()) == set(STEREO_CAMERA_LIST)
        for camera in STEREO_CAMERA_LIST[3:]:
>           assert len(data_loader.timestamp_image_dict[camera]) == 1
E           assert 0 == 1
E            +  where 0 = len({})

tests/test_argoverse_stereo_loader.py:44: AssertionError
_________________________ test_loading_image_disparity _________________________

data_loader = <argoverse.data_loading.argoverse_stereo_loader.ArgoverseStereoLoader object at 0x7fb571d06f98>

    def test_loading_image_disparity(data_loader: ArgoverseStereoLoader) -> None:
        camera = STEREO_CAMERA_LIST[2]
        disparity = STEREO_DISPARITY_LIST[0]
        disparity_objects = STEREO_DISPARITY_LIST[1]
        log = "1"
        image_1_at_timestamp = data_loader.get_image_at_timestamp(1, camera, log)
>       image_1 = data_loader.get_image(0, camera, log)

tests/test_argoverse_stereo_loader.py:65: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <argoverse.data_loading.argoverse_stereo_loader.ArgoverseStereoLoader object at 0x7fb571d06f98>
idx = 0, camera = 'stereo_front_left_rect', log_id = '1', load = True

    def get_image(
        self, idx: int, camera: str, log_id: Optional[str] = None, load: bool = True
    ) -> Union[str, np.ndarray]:
        """get image or image path at a specific index (in image index)

        Args:
            idx: image based 0-index
            camera: camera based on camera_stats.STEREO_CAMERA_LIST
            log_id: log_id, if not specified will use self.current_log
            load: whether to return image array (True) or image path (False)

        Returns:
            np.array: list of image path (str or np.array)),
        """
        assert self.image_timestamp_list is not None
        assert self._image_timestamp_list is not None
        assert self.image_list is not None
        assert self._image_list is not None

        if log_id is None:
            log_id = self.current_log

>       assert idx < len(self._image_timestamp_list[log_id][camera])
E       AssertionError

argoverse/data_loading/argoverse_stereo_loader.py:363: AssertionError

[johnwlambert]

@benjaminrwilson maybe you can take a look too?

[jhonykaesemodel]

Thanks a lot so far, @johnwlambert. Awesome comments! I'll address them asap, and sorry for this huge PR.

[benjaminrwilson]

Additionally, what you do you think about making a top-level csrc directory for c++ and cuda extensions? (e.g., https://github.com/rusty1s/pytorch_cluster/tree/master/csrc)

[johnwlambert]

Hi Jhony, you will probably need to pull master into your branch, to get Ben's CI fixes

[johnwlambert]

2 small typos in the notebook here

[johnwlambert]

My bad, is must be if self._calib is not None:... It passed all tests somehow. Do you think we should use the pass since the function returns nothing? I think the older format is cleaner.

Would a simple return instead of pass accomplish the logic?