[Fix] Fix cam_list for WaymoDataset (#2187)

configs/_base_/datasets/waymoD5-fov-mono3d-3class.py

@@ -70,10 +70,10 @@ train_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         pipeline=train_pipeline,
         modality=input_modality,
         test_mode=False,
@@ -97,10 +97,10 @@ val_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         ann_file='waymo_infos_val.pkl',
         pipeline=eval_pipeline,
         modality=input_modality,
@@ -124,10 +124,10 @@ test_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         ann_file='waymo_infos_val.pkl',
         pipeline=eval_pipeline,
         modality=input_modality,

configs/_base_/datasets/waymoD5-mv-mono3d-3class.py

@@ -70,10 +70,10 @@ train_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         pipeline=train_pipeline,
         modality=input_modality,
         test_mode=False,
@@ -97,10 +97,10 @@ val_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         ann_file='waymo_infos_val.pkl',
         pipeline=eval_pipeline,
         modality=input_modality,
@@ -124,10 +124,10 @@ test_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4'),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         ann_file='waymo_infos_val.pkl',
         pipeline=eval_pipeline,
         modality=input_modality,

configs/_base_/datasets/waymoD5-mv3d-3class.py

@@ -76,11 +76,10 @@ train_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4',
-        ),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         pipeline=train_pipeline,
         modality=input_modality,
         test_mode=False,
@@ -102,11 +101,10 @@ val_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4',
-        ),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         pipeline=eval_pipeline,
         modality=input_modality,
         test_mode=True,
@@ -127,11 +125,10 @@ test_dataloader = dict(
         data_prefix=dict(
             pts='training/velodyne',
             CAM_FRONT='training/image_0',
-            CAM_FRONT_RIGHT='training/image_1',
-            CAM_FRONT_LEFT='training/image_2',
-            CAM_SIDE_RIGHT='training/image_3',
-            CAM_SIDE_LEFT='training/image_4',
-        ),
+            CAM_FRONT_LEFT='training/image_1',
+            CAM_FRONT_RIGHT='training/image_2',
+            CAM_SIDE_LEFT='training/image_3',
+            CAM_SIDE_RIGHT='training/image_4'),
         pipeline=eval_pipeline,
         modality=input_modality,
         test_mode=True,

mmdet3d/datasets/waymo_dataset.py

@@ -27,10 +27,10 @@ class WaymoDataset(KittiDataset):
             camera data dict. Defaults to dict(
                                     pts='velodyne',
                                     CAM_FRONT='image_0',
-                                    CAM_FRONT_RIGHT='image_1',
-                                    CAM_FRONT_LEFT='image_2',
-                                    CAM_SIDE_RIGHT='image_3',
-                                    CAM_SIDE_LEFT='image_4')
+                                    CAM_FRONT_LEFT='image_1',
+                                    CAM_FRONT_RIGHT='image_2',
+                                    CAM_SIDE_LEFT='image_3',
+                                    CAM_SIDE_RIGHT='image_4')
         pipeline (List[dict]): Pipeline used for data processing.
             Defaults to [].
         modality (dict): Modality to specify the sensor data used
@@ -76,10 +76,10 @@ class WaymoDataset(KittiDataset):
                  data_prefix: dict = dict(
                      pts='velodyne',
                      CAM_FRONT='image_0',
-                     CAM_FRONT_RIGHT='image_1',
-                     CAM_FRONT_LEFT='image_2',
-                     CAM_SIDE_RIGHT='image_3',
-                     CAM_SIDE_LEFT='image_4'),
+                     CAM_FRONT_LEFT='image_1',
+                     CAM_FRONT_RIGHT='image_2',
+                     CAM_SIDE_LEFT='image_3',
+                     CAM_SIDE_RIGHT='image_4'),
                  pipeline: List[Union[dict, Callable]] = [],
                  modality: dict = dict(use_lidar=True),
                  default_cam_key: str = 'CAM_FRONT',

tools/dataset_converters/update_infos_to_v2.py

@@ -859,10 +859,10 @@ def update_waymo_infos(pkl_path, out_dir):
     # pkl generated in the waymo cam only challenage.
     camera_types = [
         'CAM_FRONT',
-        'CAM_FRONT_RIGHT',
         'CAM_FRONT_LEFT',
-        'CAM_SIDE_RIGHT',
+        'CAM_FRONT_RIGHT',
         'CAM_SIDE_LEFT',
+        'CAM_SIDE_RIGHT',
     ]
     print(f'{pkl_path} will be modified.')
     if out_dir in pkl_path: