Merge branch 'lyft_unittest' into 'master'

add unittest for lyft dataset

See merge request open-mmlab/mmdet.3d!122

mmdet3d/core/evaluation/lyft_eval.py

@@ -10,7 +10,7 @@ from os import path as osp
 from terminaltables import AsciiTable
 
 
-def load_lyft_gts(lyft, data_root, eval_split: str, logger=None) -> list:
+def load_lyft_gts(lyft, data_root, eval_split, logger=None):
     """Loads ground truth boxes from database.
 
     Args:
@@ -138,8 +138,7 @@ def lyft_eval(lyft, data_root, res_path, eval_set, output_dir, logger=None):
     return metrics
 
 
-def get_classwise_aps(gt: list, predictions: list, class_names: list,
-                      iou_thresholds: list) -> np.array:
+def get_classwise_aps(gt, predictions, class_names, iou_thresholds):
     """Returns an array with an average precision per class.
 
     Note: Ground truth and predictions should have the following format.

tests/data/lyft/v1.01-train/v1.01-train/attribute.json

+[{"description": "", "token": "f5081f1e5aa941f9d9f727ad186c8db67b916336f975a2f5d65d14ea01ed098f", "name": "object_action_lane_change_right"}, {"token": "1b388c1f5e5149ae173ad3d674e7ad7f1847e213173d14ce5ecf431ad697ca17", "description": "", "name": "object_action_running"}, {"description": "", "token": "17d61007ee69782e0ad8ffa5f8cd4c075f18b4b09e11f0e966bc27026c7929ea", "name": "object_action_lane_change_left"}, {"description": "", "token": "5466ded30df08d7d825412ac907017d6ae00ff19051c63666de3dcc4a535c8cc", "name": "object_action_parked"}, {"description": "", "token": "8b08df37edc70b7327d54b3fbf9e7e5894e1a31a93fe772102ff7598e35d0f91", "name": "object_action_standing"}, {"description": "", "token": "0989569fa372d3192628f37ed14a9eb242089187ee53e890c9094cbe13a6a703", "name": "object_action_right_turn"}, {"token": "fb20c010bc51767ac99f7cecf51e16bff8e14533259b2337c6c7f8a36e621994", "description": "", "name": "object_action_gliding_on_wheels"}, {"description": "", "token": "9f0c089e1d2ee9ba32d38e15e3ba271fb4b905f7fc8bee09488250782356af9e", "name": "object_action_loss_of_control"}, {"token": "fe119c23bb398acdc112c5d3a6ff4bdedc2f6f52d1253fcc2ee049300ed8a774", "description": "", "name": "object_action_u_turn"}, {"token": "9f853fbe56e7d974482d50000ebd07d29ea4ecdc344efdcdf9812de40e41eaf7", "description": "", "name": "object_action_sitting"}, {"description": "", "token": "29177d5bec11b5063bd3066d583a9391891546e8d54655e804f7366e5fc6254d", "name": "object_action_walking"}, {"description": "", "token": "1ba8c9a8bda54423fa710b0af1441d849ecca8ed7b7f9393ba1794afe4aa6aa2", "name": "object_action_stopped"}, {"description": "", "token": "d049e95939be40194b077bb970b0fbeeb732308978c5455e3a8a1095efddd03b", "name": "object_action_left_turn"}, {"token": "b2395906b761701dfca268fa8a9aa2b44f13ff02e19ada1f66d9fabe99e57cd1", "description": "", "name": "object_action_reversing"}, {"description": "", "token": "daf16a3f6499553cc5e1df4a456de5ee46e2e6b06544686d918dfb1ddb088f6f", "name": "is_stationary"}, {"description": "", "token": "7fc1ca3d36808cd1858e9c01ad4e7630ff3ca9e720065034abd244122646acc8", "name": "object_action_driving_straight_forward"}, {"description": "", "token": "8888fd4a06ef74a907cdae0da9d370ad3bf26f96f05f03d8da5d9dbd1e2ab84e", "name": "object_action_abnormal_or_traffic_violation"}, {"token": "ad3510a8b66087839b8deb7610e90972f36a5b79d09b117ace5c211e3dbdbbd5", "description": "", "name": "object_action_other_motion"}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/calibrated_sensor.json

+[{"sensor_token": "286718e1fbc8c8f0ca441969d91c36a8a809666e049e54ce121636100b520946", "rotation": [-0.533783350160674, 0.4633916642336896, -0.461074459026301, 0.5364269231158916], "camera_intrinsic": [[3962.24093836, 0, 935.362561646], [0.0, 3962.24093836, 444.59525683], [0.0, 0.0, 1.0]], "translation": [1.491748074978969, 0.035422929448341293, 1.5013954883024263], "token": "4f30ede5a14a2644e870ae98a0f140c6c8e2d1507ecb82552ef66cd6fa8819f9"}, {"sensor_token": "8e0259a868ddbfe589c2ce9c8bfb34a9e6c19c108b882c45433c76b70a2491a2", "rotation": [-0.17256200786146647, 0.19034914621455828, 0.6851587528493052, -0.6815768770815164], "camera_intrinsic": [[1110.47829059, 0, 958.905559894], [0.0, 1110.47829059, 536.375069254], [0.0, 0.0, 1.0]], "translation": [1.0367992983909404, -0.32137458078567294, 1.66925674671824], "token": "18908cc236587364dfac3766d0a410ef598e41a417e1cf17e3043bf50b7d600f"}, {"sensor_token": "de29f3ebb9d96988ac2c5913022c3102a51134e950284aac2e8511f83aff9a81", "rotation": [-0.19465537600305863, 0.17397929331162632, -0.6816178799126028, 0.6835477714654212], "camera_intrinsic": [[1108.78210897, 0, 956.879957389], [0.0, 1108.78210897, 536.673966234], [0.0, 0.0, 1.0]], "translation": [1.2869349480170578, -0.3092550353512263, 1.6839893914336566], "token": "be1d17a7d10692b4bfa8f90d19d7511ed4a49e10ff7366a6971c7b1e8f5bc163"}, {"sensor_token": "eb9e8f60a3d6e3328d7512b9f8e6800127fe91f4d62bc8e48a0e6a7cb116cc60", "rotation": [0.5090416344726354, -0.49422295323980653, 0.4930125688749941, -0.5035463174283287], "camera_intrinsic": [[1109.05239567, 0, 957.849065461], [0.0, 1109.05239567, 539.672710373], [0.0, 0.0, 1.0]], "translation": [1.5039405282244198, -0.02676183592864872, 1.6584901808053665], "token": "8e73e320d1fa9e5af96059e6eb1dd7d28e3271dea04de86ead47fa25fd13fd20"}, {"sensor_token": "c84592e22beb2c0f14d5159245ce8d6678431b879e940eed580651c09cc7d2f1", "rotation": [-0.6800931780241828, 0.6845869904959692, 0.19499180879571137, -0.17547682511151053], "camera_intrinsic": [[1110.19631475, 0, 956.342542632], [0.0, 1110.19631475, 538.552500203], [0.0, 0.0, 1.0]], "translation": [1.036170645129989, 0.31447962783329736, 1.6505869420762211], "token": "8868ef421e2c716ac3df7b2e29ebea5a50156d1ae83c52dce363b03c3d32aae0"}, {"sensor_token": "25bf751d7e35f295393d8a418731474b21c1f702e878c4553f112397caa48c08", "rotation": [0.006336712035703651, -0.011344169002788682, 7.18908018654885e-05, 0.9999155718069028], "camera_intrinsic": [], "translation": [1.1970962545449502, 3.680498291456359e-05, 1.8279670539933053], "token": "82130f5d48b806b62fec95989081337218fbf338ebcc95115d8afcebb305630c"}, {"sensor_token": "172a55e2b50f18a6b6d545369a457003c2f3b438d0180b2b4c7819ca29b3f6ab", "rotation": [-0.4944743277529699, 0.5037402715904608, 0.5076908453442883, -0.49395433344067297], "camera_intrinsic": [[1112.8384901, 0, 958.488205774], [0.0, 1112.8384901, 539.540735426], [0.0, 0.0, 1.0]], "translation": [0.8201327486252449, -0.002437920474569259, 1.6531257722973938], "token": "59155106c0ac5abe83cb6558ad8ce98400e3c3abf51234734bc89bc9d613470a"}, {"sensor_token": "f7dad6bb70cb8e6245f96e5537e382848335872e6e259218b0a80cc071d162c4", "rotation": [0.686977284209879, -0.6802420406364054, 0.17244107898402378, -0.18867180872950803], "camera_intrinsic": [[1110.7747894, 0, 957.955987134], [0.0, 1110.7747894, 537.005069228], [0.0, 0.0, 1.0]], "translation": [1.2759992300657645, 0.3217354425926982, 1.6672818053302068], "token": "c63ee9e8447236363329b16551200c1216313f3e1107972aa73f4672c770a07d"}, {"sensor_token": "953faed96fd3d2fae3ec03cd2838b312b8c1a9bb7a0629481982870cb28acb67", "rotation": [0.003651633245269522, 0.6883656521848035, 0.7253545303479662, 0.0004469569487147289], "camera_intrinsic": [], "translation": [3.4979440634654573, -0.9496511625133583, 0.5473180779313758], "token": "dd9aad0c2aa0c75b9b0e227b568f64aac54f72c67956e759d6c629778c7734ef"}, {"sensor_token": "629da739ea3a0814b9d79ffc3b99cdbc8bdbb6f97abf139f1ad33bd12f8fa94d", "rotation": [0.01046934325147815, 0.7290775169266195, -0.6842510224225216, 0.011700661422809379], "camera_intrinsic": [], "translation": [3.47289236509973, 0.941603244416182, 0.5427200389242757], "token": "7575ccf88b92f9aab15b49679e86f1b03cf8050cf9b2b35cdfa4102de366d3b7"}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/category.json

+[{"description": "", "token": "8eccddb83fa7f8f992b2500f2ad658f65c9095588f3bc0ae338d97aff2dbcb9c", "name": "car"}, {"description": "", "token": "73e8de69959eb9f5b4cd2859e74bec4b5491417336cad63f27e8edb8530ffbf8", "name": "pedestrian"}, {"description": "", "token": "f81f51e1897311b55c0c6247c3db825466733e08df687c0ea830b026316a1c12", "name": "animal"}, {"description": "", "token": "a8619a81f5acc7da2a2f034420db2b2f43a015c8c689822e5295b5d6f7a5d8d6", "name": "other_vehicle"}, {"description": "", "token": "7ea5868735dc408109bfa74fd139bd8c5aa3767b52e054b8e792cabcf309c6f4", "name": "bus"}, {"description": "", "token": "1248d937c7a1a2eb1022ba9e806ebd5183b6c20c7f5703d8a7320600f1caad27", "name": "motorcycle"}, {"description": "", "token": "8af78d27e148a8f544f4c86b2a3f4bd6192b975d1065dd932ebdb8879778e275", "name": "truck"}, {"token": "c4e92c2b854fb03382838643c36d01a349f5624a11f184042d91d916d19acdbd", "description": "", "name": "emergency_vehicle"}, {"description": "", "token": "8c07dfa7af0da0191d59a2db50dc26ad1528be1fad483f17e2586309482d81bd", "name": "bicycle"}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/ego_pose.json

+[{"rotation": [0.97631738386773, 0.024355142980323354, 0.00012664593502934425, -0.21496785091935613], "translation": [457.3505853301973, 2679.91052666971, -18.620076176991617], "token": "4c69be759456213e2b13c9bcb04f7f00f08f51d80f811cb20988ed0b2eb8a5c5", "timestamp": 1556675185903083.2}, {"rotation": [0.9771074820865069, 0.02441896418134605, 0.0005714443495801867, -0.21133943335362704], "translation": [457.9072504092915, 2679.6595568787397, -18.628687376575407], "token": "c8cc0f9841e42bfb9c1ae226713ec83638b51dd758cd8d0b3a105e9bbec1e031", "timestamp": 1556675185903083.2}, {"rotation": [0.9768528703789421, 0.024490134376697083, 0.00036779161666705294, -0.21250545329463857], "translation": [457.72410618178185, 2679.7485889885943, -18.626405990786242], "token": "d9868e1d8791a09e62727da1788da1b90ee8c65f4ac42b4cb6680a79a80badf2", "timestamp": 1556675185903083.2}, {"rotation": [0.9765846735243966, 0.024522313893931575, 0.0002013091059596796, -0.21373111854191712], "translation": [457.5333376382543, 2679.8205705606033, -18.622436309011565], "token": "8330e616a80c17462c226acc4703d6d3e7bc4d3daa4a92d2a6a2c732ccfce512", "timestamp": 1556675185903083.2}, {"rotation": [0.9779159123701014, 0.024736836090502246, 0.0011606663537812234, -0.20752640826458427], "translation": [458.4931161174909, 2679.379158520722, -18.635968896149546], "token": "b14dc8ee452c4c2c86de52ab585c19841660b231c3026ec51a392fbd3ee80ee3", "timestamp": 1556675185903083.2}, {"rotation": [0.9773608034754945, 0.024457316288358896, 0.0007724539689405508, -0.2101597078999035], "translation": [458.0906425968487, 2679.5709901596, -18.630931546235526], "token": "59ad05eccb76d57702b46bb1e38882a4b37b78ef96689297121adbca9b410c39", "timestamp": 1556675185903083.2}, {"rotation": [0.9776139207058422, 0.024638460285647083, 0.0009416555204798859, -0.20895712862160226], "translation": [458.2746593704452, 2679.4830428560676, -18.633185234855464], "token": "eafe08569de239d4b94f764bc2fd53774445483a17057386051d4f403d38ddd9", "timestamp": 1556675185903083.2}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/instance.json

+[{"last_annotation_token": "3cffa3d43e4f0c5b46839b849f2f346b12cc91c8b63b5ce6a86cb666fc7ebe95", "category_token": "8eccddb83fa7f8f992b2500f2ad658f65c9095588f3bc0ae338d97aff2dbcb9c", "token": "d0c8471d3d3d7743101948261a6f380127926d56a45efaca60feb46eef9554f2", "first_annotation_token": "12b93cc7454a2f23ab8b4f1835a81861f241fddd73df2328100cdb68d7a039f6", "nbr_annotations": 103}, {"last_annotation_token": "99a594f9c82a5c5931d80aaa9ae4328e45220a8159a5c5aa1f7fb8e7edda181e", "category_token": "8eccddb83fa7f8f992b2500f2ad658f65c9095588f3bc0ae338d97aff2dbcb9c", "token": "8ea7e34e19c0c4f798c4635618e40abdb45a1f3eed35e6027be2e3db6a58a3aa", "first_annotation_token": "64060c717ab2a6ed28f2b048c6e8c3c6cde99b8436e58bffbd68586c10e177bd", "nbr_annotations": 125}, {"last_annotation_token": "ab63547070c539d13d091f25989b4bab80e1b03557091f3f5d2b8e5ec833f35f", "category_token": "8eccddb83fa7f8f992b2500f2ad658f65c9095588f3bc0ae338d97aff2dbcb9c", "token": "99dbde4395408209738538a4a6a04d7c67824ce454a858057c29ddc4330c09a2", "first_annotation_token": "b045969b0899b9393f0200f1d8e0a5f39d01295c11479ce4766f08d3f70d6340", "nbr_annotations": 126}, {"last_annotation_token": "8c1f56554f4ffb696feaad773b3e11918229db5c46d698c381796e710912784a", "category_token": "8eccddb83fa7f8f992b2500f2ad658f65c9095588f3bc0ae338d97aff2dbcb9c", "token": "9a0abe5b2b13aad45262f06461914db4484e34d4df889872a389212bc404b9c3", "first_annotation_token": "073e78c06d592651bdc2e0a8f27510ed497cd2956639e79b2569fad4b7ece280", "nbr_annotations": 126}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/log.json

+[{"date_captured": "2019-05-01", "location": "Palo Alto", "token": "9d0166ccd4af9c089738587f6e3d21cd9c8b6102787427da8c3b4f64161160c5", "vehicle": "a101", "logfile": ""}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/map.json

+[{"log_tokens": ["9d0166ccd4af9c089738587f6e3d21cd9c8b6102787427da8c3b4f64161160c5"], "token": "53992ee3023e5494b90c316c183be829", "filename": "maps/map_raster_palo_alto.png", "category": "semantic_prior"}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/sample.json

+[{"next": "b8625b49ee4b7679cb81c50895bb918c98800c274e1bca22cd3208770bd3aaa1", "prev": "da683bff4f51b8073ef139476f5ad745711527a7bc7d83b20fcb871f32f9eda6", "token": "199e3146d98e6a2047bafbc222b92f5b67c4640a69b0d1d35b710242de816679", "scene_token": "9d0166ccd4af9c089738587f6e3d21cd9c8b6102787427da8c3b4f64161160c5", "timestamp": 1556675185903083.2}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/sample_annotation.json

+[{"token": "c18679b6bd6c643cddec8b6c0d8cedf1ee92d10ce6861faaf3db8b30f541f5e7", "num_lidar_pts": -1, "size": [2.046, 4.495, 1.849], "sample_token": "199e3146d98e6a2047bafbc222b92f5b67c4640a69b0d1d35b710242de816679", "rotation": [-0.9080903027815442, 0, 0, 0.4187744046549685], "prev": "4efcc5bd003637d3e0089e77fc42aee64920245632aaab916ad4d805a5f336b3", "translation": [429.0921186021758, 2702.055704889004, -17.146943716495205], "num_radar_pts": 0, "attribute_tokens": ["7fc1ca3d36808cd1858e9c01ad4e7630ff3ca9e720065034abd244122646acc8"], "next": "c35f99bbbe916fd28fa99b4166d22de3d4e463ca6a5a159d12a508578febcffe", "instance_token": "9a0abe5b2b13aad45262f06461914db4484e34d4df889872a389212bc404b9c3", "visibility_token": ""}, {"token": "6d23fab006293d9c2bafc09ea35b4c9bc3e05bdbb7a440806f1f0cff1101e196", "num_lidar_pts": -1, "size": [2.232, 4.495, 1.491], "sample_token": "199e3146d98e6a2047bafbc222b92f5b67c4640a69b0d1d35b710242de816679", "rotation": [-0.8063699336793946, 0, 0, 0.5914114727141238], "prev": "ed430e3abed0ded51223b8ce84f2b4f2a4f38985faa563bd16310f51ea9ba36c", "translation": [412.40541882096636, 2731.301103330307, -17.151117592727555], "num_radar_pts": 0, "attribute_tokens": ["7fc1ca3d36808cd1858e9c01ad4e7630ff3ca9e720065034abd244122646acc8"], "next": "3b65e3388d7e0803ec1978f18ef7090a2eaa20cbb473cdec9439ebe81beb9cb8", "instance_token": "d0c8471d3d3d7743101948261a6f380127926d56a45efaca60feb46eef9554f2", "visibility_token": ""}, {"token": "846d5bf7f12f8303c3c8ebe8cab593e1fb0b4c233df4131667d0329e68344260", "num_lidar_pts": -1, "size": [2.086, 4.502, 1.862], "sample_token": "199e3146d98e6a2047bafbc222b92f5b67c4640a69b0d1d35b710242de816679", "rotation": [-0.9904555094926146, 0, 0, 0.1378328107372302], "prev": "de5632dc408786350ff22cd7eb349d22ee968a64e12b2f4e82cdeca57b337181", "translation": [513.4599703681669, 2662.8116034333893, -18.476438106530324], "num_radar_pts": 0, "attribute_tokens": ["7fc1ca3d36808cd1858e9c01ad4e7630ff3ca9e720065034abd244122646acc8"], "next": "ac72a07c4277fc17e7ad01d01b01427443e1204f2692622b22f22a565d797427", "instance_token": "99dbde4395408209738538a4a6a04d7c67824ce454a858057c29ddc4330c09a2", "visibility_token": ""}, {"token": "cff6c58986674612c5edd5207750e142ca565979a05636b9fea56e625c11786e", "num_lidar_pts": -1, "size": [2.046, 4.495, 1.787], "sample_token": "199e3146d98e6a2047bafbc222b92f5b67c4640a69b0d1d35b710242de816679", "rotation": [-0.8865491344147599, 0, 0, 0.46263444777538987], "prev": "f467ad8f44a24ef052374af34b17af59aa58bd98f6eeb41b5d1861a895a73a22", "translation": [421.3642826517188, 2712.6875984607373, -17.096114569668853], "num_radar_pts": 0, "attribute_tokens": ["7fc1ca3d36808cd1858e9c01ad4e7630ff3ca9e720065034abd244122646acc8"], "next": "eea0aa87c6b2a3460549aa778ef6413416fdfab7cb0fd65224c0f7f13e8761e9", "instance_token": "8ea7e34e19c0c4f798c4635618e40abdb45a1f3eed35e6027be2e3db6a58a3aa", "visibility_token": ""}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/sample_data.json

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\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/scene.json

+[{"description": "", "log_token": "9d0166ccd4af9c089738587f6e3d21cd9c8b6102787427da8c3b4f64161160c5", "name": "host-a101-lidar0-1240710366399037786-1240710391298976894", "first_sample_token": "0ebe3320a4049a1efe2af53c2094d102971a6269b70a72e127eaeabcbff9445d", "last_sample_token": "154956ad6f00a7c5e7058da67cca30b130ba0f3ea27dab72cd2ee802fa1f58cb", "nbr_samples": 126, "token": "9d0166ccd4af9c089738587f6e3d21cd9c8b6102787427da8c3b4f64161160c5"}]
\ No newline at end of file

tests/data/lyft/v1.01-train/v1.01-train/sensor.json

+[{"modality": "camera", "channel": "CAM_FRONT_LEFT", "token": "f7dad6bb70cb8e6245f96e5537e382848335872e6e259218b0a80cc071d162c4"}, {"modality": "lidar", "channel": "LIDAR_FRONT_LEFT", "token": "629da739ea3a0814b9d79ffc3b99cdbc8bdbb6f97abf139f1ad33bd12f8fa94d"}, {"modality": "camera", "channel": "CAM_FRONT", "token": "eb9e8f60a3d6e3328d7512b9f8e6800127fe91f4d62bc8e48a0e6a7cb116cc60"}, {"modality": "lidar", "channel": "LIDAR_TOP", "token": "25bf751d7e35f295393d8a418731474b21c1f702e878c4553f112397caa48c08"}, {"modality": "camera", "channel": "CAM_BACK_LEFT", "token": "c84592e22beb2c0f14d5159245ce8d6678431b879e940eed580651c09cc7d2f1"}, {"modality": "lidar", "channel": "LIDAR_FRONT_RIGHT", "token": "953faed96fd3d2fae3ec03cd2838b312b8c1a9bb7a0629481982870cb28acb67"}, {"modality": "camera", "channel": "CAM_BACK", "token": "172a55e2b50f18a6b6d545369a457003c2f3b438d0180b2b4c7819ca29b3f6ab"}, {"modality": "camera", "channel": "CAM_BACK_RIGHT", "token": "8e0259a868ddbfe589c2ce9c8bfb34a9e6c19c108b882c45433c76b70a2491a2"}, {"modality": "camera", "channel": "CAM_FRONT_ZOOMED", "token": "286718e1fbc8c8f0ca441969d91c36a8a809666e049e54ce121636100b520946"}, {"modality": "camera", "channel": "CAM_FRONT_RIGHT", "token": "de29f3ebb9d96988ac2c5913022c3102a51134e950284aac2e8511f83aff9a81"}]
\ No newline at end of file