Xtreme1 Point Cloud Object Detection Model Integration Guide
Model Service Interface
Request
POST
http://ip:port/pointCloud/recognition
Parameters
{
# A request can contain multiple pieces of data
"datas": [
# Each frame of data contains one point cloud file
{
"id": 1, # UUID
"pointCloudUrl": "https://path/to/000001.pcd", # url of the point cloud file
"imageUrls":
[
"https://path/to/image0/000001.jpg",
...
],
"cameraConfigUrl": "https://path/to/camera_config/000001.json"
}
]
}
Responses
{
"code": "OK",
"message": "",
"data": [
{
"id": 1, # UUID from request
"code": "OK",
"message": "",
"objects":
[
{
"label": "CAR", # class
"confidence": 0.7 # Confidence: (0~1)
"x": 0.0, "y": 0.0, "z": 0.0, # The position of the center point of the box
"dx": 3, "dy": 2, "dz": 1.5, # size of the box
"rotX": 0, "rotY": 0, "rotZ": 0.5, # The rotation direction of the box (Euler angle XYZ, intrinsic rotations)
}
],
"confidence": 0.8 # Confidence of the whole data (optional)
}
]
}
Development Services
Point Cloud Object Detection Service
Write a service script
An example: pcdet_demo_service.py
from flask import Flask, request, jsonify
app = Flask(__name__)
def predict(pcd_url):
# 1. Download the pcd file via pcd_url (make sure the algorithm service is connected to the Xtreme1 service machine)
# r = requests. get(pcd_url, allow_redirects=True)
# 2. Load the pcd file and get the point cloud information
# pcd_file = io.BytesIO(r.content)
#pc = load_pcd(pcd_file)
# 3. Predict and get the result of target detection
# results = object_detection(pc)
return [
# return a detection example
{
"label": "CAR", # category
"confidence": 0.7, # Confidence: (0~1)
"x": 0.0, "y": 0.0, "z": 0.0, # the position of the center point of the box
"dx": 3, "dy": 2, "dz": 1.5, # size of the box
"rotX": 0, "rotY": 0, "rotZ": 0.5, # The rotation direction of the box (Euler angle XYZ, intrinsic rotations)
}
]
@app.route("/pointCloud/recognition", methods = ['POST'])
def recognition():
datas = request.json['datas']
result = {
"code": "OK",
"message": "",
"data": [
{
"id": data['id'],
"code": 0,
"message": "",
"objects": predict(data['pointCloudUrl'])
}
for data in data
]
}
return jsonify(result)y
Integration Services
Start Service
# flask 2.2.3
flask --app=pcdet_demo_service run --host=0.0.0.0 --port=5000
