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Commit 1e0e50d5 authored by ChaimZhu's avatar ChaimZhu Committed by ZwwWayne
Browse files

[Refactor] update `metainfo` in pkl file and add `categories` into `metainfo` (#1934) 

* update metainfo in pkl file

* update

* add version for waymo

* update kitti metric
parent 8289d1b0
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Showing with 85 additions and 40 deletions
mmdet3d/evaluation/metrics/kitti_metric.py
View file @ 1e0e50d5
......@@ -74,25 +74,19 @@ class KittiMetric(BaseMetric):
raise KeyError("metric should be one of 'bbox', 'img_bbox', "
'but got {metric}.')
def convert_annos_to_kitti_annos(
self,
data_annos: list,
classes: list = [
'Pedestrian', 'Cyclist', 'Car', 'Van', 'Truck', 'Person_sitting',
'Tram', 'Misc'
]
) -> list:
def convert_annos_to_kitti_annos(self, data_infos: dict) -> list:
"""Convert loading annotations to Kitti annotations.
Args:
data_annos (list[dict]): Annotations loaded from ann_file.
classes (list[str]): Classes used in the dataset. Default used
['Pedestrian', 'Cyclist', 'Car', 'Van', 'Truck',
'Person_sitting', 'Tram', 'Misc'].
data_infos (dict): Data infos including metainfo and annotations
loaded from ann_file.
Returns:
List[dict]: List of Kitti annotations.
"""
cat2label = data_infos['metainfo']['categories']
data_annos = data_infos['data_list']
label2cat = dict((v, k) for (k, v) in cat2label.items())
assert 'instances' in data_annos[0]
for i, annos in enumerate(data_annos):
if len(annos['instances']) == 0:
......@@ -120,11 +114,8 @@ class KittiMetric(BaseMetric):
'score': []
}
for instance in annos['instances']:
labels = instance['bbox_label']
if labels == -1:
kitti_annos['name'].append('DontCare')
else:
kitti_annos['name'].append(classes[labels])
label = instance['bbox_label']
kitti_annos['name'].append(label2cat[label])
kitti_annos['truncated'].append(instance['truncated'])
kitti_annos['occluded'].append(instance['occluded'])
kitti_annos['alpha'].append(instance['alpha'])
......@@ -179,9 +170,8 @@ class KittiMetric(BaseMetric):
self.classes = self.dataset_meta['CLASSES']
# load annotations
pkl_annos = load(
self.ann_file, file_client_args=self.file_client_args)['data_list']
self.data_infos = self.convert_annos_to_kitti_annos(pkl_annos)
pkl_infos = load(self.ann_file, file_client_args=self.file_client_args)
self.data_infos = self.convert_annos_to_kitti_annos(pkl_infos)
result_dict, tmp_dir = self.format_results(
results,
pklfile_prefix=self.pklfile_prefix,
......
tools/dataset_converters/update_infos_to_v2.py
View file @ 1e0e50d5
......@@ -264,10 +264,6 @@ def update_nuscenes_infos(pkl_path, out_dir):
'CLASSES':
('car', 'truck', 'trailer', 'bus', 'construction_vehicle', 'bicycle',
'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'),
'DATASET':
'Nuscenes',
'version':
data_list['metadata']['version']
}
nusc = NuScenes(
version=data_list['metadata']['version'],
......@@ -367,7 +363,16 @@ def update_nuscenes_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(metainfo=METAINFO, data_list=converted_list)
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'nuscenes'
metainfo['version'] = data_list['metadata']['version']
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -497,8 +502,16 @@ def update_kitti_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(
metainfo={'DATASET': 'KITTI'}, data_list=converted_list)
# dataset metainfo
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'kitti'
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -558,8 +571,17 @@ def update_s3dis_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(
metainfo={'DATASET': 'S3DIS'}, data_list=converted_list)
# dataset metainfo
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 's3dis'
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -623,8 +645,17 @@ def update_scannet_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(
metainfo={'DATASET': 'SCANNET'}, data_list=converted_list)
# dataset metainfo
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'scannet'
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -692,8 +723,17 @@ def update_sunrgbd_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(
metainfo={'DATASET': 'SUNRGBD'}, data_list=converted_list)
# dataset metainfo
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'sunrgbd'
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -709,10 +749,6 @@ def update_lyft_infos(pkl_path, out_dir):
'CLASSES':
('car', 'truck', 'bus', 'emergency_vehicle', 'other_vehicle',
'motorcycle', 'bicycle', 'pedestrian', 'animal'),
'DATASET':
'Nuscenes',
'version':
data_list['metadata']['version']
}
print('Start updating:')
converted_list = []
......@@ -797,7 +833,16 @@ def update_lyft_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(metainfo=METAINFO, data_list=converted_list)
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'lyft'
metainfo['version'] = data_list['metadata']['version']
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......@@ -995,8 +1040,18 @@ def update_waymo_infos(pkl_path, out_dir):
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
converted_data_info = dict(
metainfo={'DATASET': 'Waymo'}, data_list=converted_list)
# dataset metainfo
metainfo = dict()
metainfo['categories'] = {k: i for i, k in enumerate(METAINFO['CLASSES'])}
if ignore_class_name:
for ignore_class in ignore_class_name:
metainfo['categories'][ignore_class] = -1
metainfo['dataset'] = 'waymo'
metainfo['version'] = '1.2'
metainfo['info_version'] = '1.1'
converted_data_info = dict(metainfo=metainfo, data_list=converted_list)
mmengine.dump(converted_data_info, out_path, 'pkl')
......
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