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Unverified Commit 32ab994d authored by Xiang Xu's avatar Xiang Xu Committed by GitHub
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[Fix] Fix cam_list for WaymoDataset (#2187)

parent 5fe12001
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Showing with 46 additions and 49 deletions
configs/_base_/datasets/waymoD5-fov-mono3d-3class.py
View file @ 32ab994d
......@@ -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
View file @ 32ab994d
......@@ -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
View file @ 32ab994d
......@@ -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
View file @ 32ab994d
......@@ -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
View file @ 32ab994d
......@@ -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:
......
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