[Fix]fix dbsampler and object sampler

mmdet3d/datasets/pipelines/dbsampler.py

@@ -114,7 +114,7 @@ class DataBaseSampler(object):
         self.classes = classes
         self.cat2label = {name: i for i, name in enumerate(classes)}
         self.label2cat = {i: name for i, name in enumerate(classes)}
-        self.points_loader = mmcv.build_from_cfg(points_loader, PIPELINES)
+        self.points_loader = TRANSFORMS.build(points_loader)
         self.file_client = mmcv.FileClient(**file_client_args)
 
         # load data base infos
@@ -267,7 +267,7 @@ class DataBaseSampler(object):
                 file_path = os.path.join(
                     self.data_root,
                     info['path']) if self.data_root else info['path']
-                results = dict(pts_filename=file_path)
+                results = dict(lidar_points=dict(lidar_path=file_path))
                 s_points = self.points_loader(results)['points']
                 s_points.translate(info['box3d_lidar'][:3])
 

mmdet3d/datasets/pipelines/transforms_3d.py

@@ -7,7 +7,6 @@ import cv2
 import numpy as np
 from mmcv import is_tuple_of
 from mmcv.transforms import BaseTransform
-from mmengine.registry import build_from_cfg
 
 from mmdet3d.core import VoxelGenerator
 from mmdet3d.core.bbox import (CameraInstance3DBoxes, DepthInstance3DBoxes,
@@ -334,7 +333,7 @@ class ObjectSample(BaseTransform):
         self.sample_2d = sample_2d
         if 'type' not in db_sampler.keys():
             db_sampler['type'] = 'DataBaseSampler'
-        self.db_sampler = build_from_cfg(db_sampler, TRANSFORMS)
+        self.db_sampler = TRANSFORMS.build(db_sampler)
         self.use_ground_plane = use_ground_plane
 
     @staticmethod