fix paths in `update_infos_to_v2` on Windows by using `pathlib` (#2031)

* fix paths on Windows by using `pathlib`

* refactor Path import

tools/dataset_converters/update_infos_to_v2.py

@@ -12,6 +12,7 @@ import argparse
 import copy
 import time
 from os import path as osp
+from pathlib import Path
 
 import mmengine
 import numpy as np
@@ -283,8 +284,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
             ori_info_dict['ego2global_translation'])
         temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict.get(
             'num_features', 5)
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'lidar_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'lidar_path']).name
         temp_data_info['lidar_points'][
             'lidar2ego'] = convert_quaternion_to_matrix(
                 ori_info_dict['lidar2ego_rotation'],
@@ -314,8 +315,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
         temp_data_info['images'] = {}
         for cam in ori_info_dict['cams']:
             empty_img_info = get_empty_img_info()
-            empty_img_info['img_path'] = ori_info_dict['cams'][cam][
-                'data_path'].split('/')[-1]
+            empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
+                'data_path']).name
             empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
                 'cam_intrinsic'].tolist()
             empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
@@ -359,7 +360,7 @@ def update_nuscenes_infos(pkl_path, out_dir):
             ori_info_dict, nusc)
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -410,15 +411,15 @@ def update_kitti_infos(pkl_path, out_dir):
         temp_data_info['images']['CAM3']['cam2img'] = ori_info_dict['calib'][
             'P3'].tolist()
 
-        temp_data_info['images']['CAM2']['img_path'] = ori_info_dict['image'][
-            'image_path'].split('/')[-1]
+        temp_data_info['images']['CAM2']['img_path'] = Path(ori_info_dict['image'][
+            'image_path']).name
         h, w = ori_info_dict['image']['image_shape']
         temp_data_info['images']['CAM2']['height'] = h
         temp_data_info['images']['CAM2']['width'] = w
         temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
             'point_cloud']['num_features']
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'point_cloud']['velodyne_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'point_cloud']['velodyne_path']).name
 
         rect = ori_info_dict['calib']['R0_rect'].astype(np.float32)
         Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
@@ -498,7 +499,7 @@ def update_kitti_infos(pkl_path, out_dir):
         temp_data_info['cam_instances'] = cam_instances
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -532,12 +533,12 @@ def update_s3dis_infos(pkl_path, out_dir):
         temp_data_info['sample_idx'] = i
         temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
             'point_cloud']['num_features']
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'pts_path'].split('/')[-1]
-        temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
-            'pts_semantic_mask_path'].split('/')[-1]
-        temp_data_info['pts_instance_mask_path'] = ori_info_dict[
-            'pts_instance_mask_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'pts_path']).name
+        temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
+            'pts_semantic_mask_path']).name
+        temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
+            'pts_instance_mask_path']).name
 
         # TODO support camera
         # np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
@@ -567,7 +568,7 @@ def update_s3dis_infos(pkl_path, out_dir):
             temp_data_info['instances'] = instance_list
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -606,12 +607,12 @@ def update_scannet_infos(pkl_path, out_dir):
         temp_data_info = get_empty_standard_data_info()
         temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
             'point_cloud']['num_features']
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'pts_path'].split('/')[-1]
-        temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
-            'pts_semantic_mask_path'].split('/')[-1]
-        temp_data_info['pts_instance_mask_path'] = ori_info_dict[
-            'pts_instance_mask_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'pts_path']).name
+        temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
+            'pts_semantic_mask_path']).name
+        temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
+            'pts_instance_mask_path']).name
 
         # TODO support camera
         # np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
@@ -641,7 +642,7 @@ def update_scannet_infos(pkl_path, out_dir):
         temp_data_info['instances'] = instance_list
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -678,8 +679,8 @@ def update_sunrgbd_infos(pkl_path, out_dir):
         temp_data_info = get_empty_standard_data_info()
         temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
             'point_cloud']['num_features']
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'pts_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'pts_path']).name
         calib = ori_info_dict['calib']
         rt_mat = calib['Rt']
         # follow Coord3DMode.convert_point
@@ -687,8 +688,8 @@ def update_sunrgbd_infos(pkl_path, out_dir):
                            ]) @ rt_mat.transpose(1, 0)
         depth2img = calib['K'] @ rt_mat
         temp_data_info['images']['CAM0']['depth2img'] = depth2img.tolist()
-        temp_data_info['images']['CAM0']['img_path'] = ori_info_dict['image'][
-            'image_path'].split('/')[-1]
+        temp_data_info['images']['CAM0']['img_path'] = Path(ori_info_dict['image'][
+            'image_path']).name
         h, w = ori_info_dict['image']['image_shape']
         temp_data_info['images']['CAM0']['height'] = h
         temp_data_info['images']['CAM0']['width'] = w
@@ -719,7 +720,7 @@ def update_sunrgbd_infos(pkl_path, out_dir):
         temp_data_info['instances'] = instance_list
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -760,8 +761,8 @@ def update_lyft_infos(pkl_path, out_dir):
         temp_data_info['ego2global'] = convert_quaternion_to_matrix(
             ori_info_dict['ego2global_rotation'],
             ori_info_dict['ego2global_translation'])
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'lidar_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'lidar_path']).name
         temp_data_info['lidar_points'][
             'lidar2ego'] = convert_quaternion_to_matrix(
                 ori_info_dict['lidar2ego_rotation'],
@@ -792,8 +793,8 @@ def update_lyft_infos(pkl_path, out_dir):
         temp_data_info['images'] = {}
         for cam in ori_info_dict['cams']:
             empty_img_info = get_empty_img_info()
-            empty_img_info['img_path'] = ori_info_dict['cams'][cam][
-                'data_path'].split('/')[-1]
+            empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
+                'data_path']).name
             empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
                 'cam_intrinsic'].tolist()
             empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
@@ -829,7 +830,7 @@ def update_lyft_infos(pkl_path, out_dir):
             temp_data_info['instances'].append(empty_instance)
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')
@@ -896,7 +897,7 @@ def update_waymo_infos(pkl_path, out_dir):
                 ori_info_dict['calib'][f'P{cam_idx}'] @ lidar2cam).tolist()
 
         # image path
-        base_img_path = ori_info_dict['image']['image_path'].split('/')[-1]
+        base_img_path = Path(ori_info_dict['image']['image_path']).name
 
         for cam_idx, cam_key in enumerate(camera_types):
             temp_data_info['images'][cam_key]['timestamp'] = ori_info_dict[
@@ -912,8 +913,8 @@ def update_waymo_infos(pkl_path, out_dir):
             'point_cloud']['num_features']
         temp_data_info['lidar_points']['timestamp'] = ori_info_dict[
             'timestamp']
-        temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
-            'point_cloud']['velodyne_path'].split('/')[-1]
+        temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
+            'point_cloud']['velodyne_path']).name
 
         # TODO discuss the usage of Tr_velo_to_cam in lidar
         Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
@@ -933,13 +934,13 @@ def update_waymo_infos(pkl_path, out_dir):
             lidar_sweep = get_single_lidar_sweep()
             lidar_sweep['ego2global'] = ori_sweep['pose']
             lidar_sweep['timestamp'] = ori_sweep['timestamp']
-            lidar_sweep['lidar_points']['lidar_path'] = ori_sweep[
-                'velodyne_path'].split('/')[-1]
+            lidar_sweep['lidar_points']['lidar_path'] = Path(ori_sweep[
+                'velodyne_path']).name
             # image sweeps
             image_sweep = get_single_image_sweep(camera_types)
             image_sweep['ego2global'] = ori_sweep['pose']
             image_sweep['timestamp'] = ori_sweep['timestamp']
-            img_path = ori_sweep['image_path'].split('/')[-1]
+            img_path = Path(ori_sweep['image_path']).name
             for cam_idx, cam_key in enumerate(camera_types):
                 image_sweep['images'][cam_key]['img_path'] = img_path
 
@@ -1036,7 +1037,7 @@ def update_waymo_infos(pkl_path, out_dir):
 
         temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
         converted_list.append(temp_data_info)
-    pkl_name = pkl_path.split('/')[-1]
+    pkl_name = Path(pkl_path).name
     out_path = osp.join(out_dir, pkl_name)
     print(f'Writing to output file: {out_path}.')
     print(f'ignore classes: {ignore_class_name}')