change flip

mmdet3d/datasets/__init__.py

@@ -5,14 +5,16 @@ from .kitti2d_dataset import Kitti2DDataset
 from .kitti_dataset import KittiDataset
 from .loader import DistributedGroupSampler, GroupSampler, build_dataloader
 from .nuscenes_dataset import NuScenesDataset
-from .pipelines import (GlobalRotScale, ObjectNoise, ObjectRangeFilter,
-                        ObjectSample, PointShuffle, PointsRangeFilter,
-                        RandomFlip3D)
+from .pipelines import (GlobalRotScale, IndoorFlipData, IndoorGlobalRotScale,
+                        IndoorPointsColorJitter, ObjectNoise,
+                        ObjectRangeFilter, ObjectSample, PointShuffle,
+                        PointsRangeFilter, RandomFlip3D)
 
 __all__ = [
     'KittiDataset', 'GroupSampler', 'DistributedGroupSampler',
     'build_dataloader', 'RepeatFactorDataset', 'DATASETS', 'build_dataset',
     'CocoDataset', 'Kitti2DDataset', 'NuScenesDataset', 'ObjectSample',
     'RandomFlip3D', 'ObjectNoise', 'GlobalRotScale', 'PointShuffle',
-    'ObjectRangeFilter', 'PointsRangeFilter', 'Collect3D'
+    'ObjectRangeFilter', 'PointsRangeFilter', 'Collect3D',
+    'IndoorPointsColorJitter', 'IndoorGlobalRotScale', 'IndoorFlipData'
 ]

mmdet3d/datasets/pipelines/__init__.py

 from mmdet.datasets.pipelines import Compose
 from .dbsampler import DataBaseSampler, MMDataBaseSampler
 from .formating import DefaultFormatBundle, DefaultFormatBundle3D
+from .indoor_augment import (IndoorFlipData, IndoorGlobalRotScale,
+                             IndoorPointsColorJitter)
 from .loading import LoadMultiViewImageFromFiles, LoadPointsFromFile
 from .train_aug import (GlobalRotScale, ObjectNoise, ObjectRangeFilter,
                         ObjectSample, PointShuffle, PointsRangeFilter,
@@ -11,5 +13,6 @@ __all__ = [
     'PointShuffle', 'ObjectRangeFilter', 'PointsRangeFilter', 'Collect3D',
     'Compose', 'LoadMultiViewImageFromFiles', 'LoadPointsFromFile',
     'DefaultFormatBundle', 'DefaultFormatBundle3D', 'DataBaseSampler',
+    'IndoorGlobalRotScale', 'IndoorPointsColorJitter', 'IndoorFlipData',
     'MMDataBaseSampler'
 ]

mmdet3d/datasets/pipelines/indoor_augment.py

@@ -26,21 +26,21 @@ class IndoorFlipData(object):
         points = results['points']
         gt_bboxes_3d = results['gt_bboxes_3d']
         aligned = True if gt_bboxes_3d.shape[1] == 6 else False
-        if np.random.random() > self.flip_ratio_yz:
+        if np.random.random() < self.flip_ratio_yz:
             # Flipping along the YZ plane
             points[:, 0] = -1 * points[:, 0]
             gt_bboxes_3d[:, 0] = -1 * gt_bboxes_3d[:, 0]
             if not aligned:
                 gt_bboxes_3d[:, 6] = np.pi - gt_bboxes_3d[:, 6]
 
-            results['flip'] = True
+            results['flip_yz'] = True
             results['gt_boxes'] = gt_bboxes_3d
 
-        if aligned and np.random.random() > self.flip_ratio_xz:
+        if aligned and np.random.random() < self.flip_ratio_xz:
             # Flipping along the XZ plane
             points[:, 1] = -1 * points[:, 1]
             gt_bboxes_3d[:, 1] = -1 * gt_bboxes_3d[:, 1]
-            results['flip'] = True
+            results['flip_xz'] = True
             results['gt_bboxes_3d'] = gt_bboxes_3d
         results['points'] = points
 
@@ -189,14 +189,14 @@ class IndoorGlobalRotScale(object):
     def __call__(self, results):
         points = results['points']
         gt_bboxes_3d = results['gt_bboxes_3d']
-        name = 'scannet' if gt_bboxes_3d.shape[1] == 6 else 'sunrgbd'
+        aligned = True if gt_bboxes_3d.shape[1] == 6 else False
 
         if self.rot_range is not None:
             assert len(self.rot_range) == 2
             rot_angle = np.random.uniform(self.rot_range[0], self.rot_range[1])
             rot_mat = self._rotz(rot_angle)
             points[:, :3] = np.dot(points[:, :3], rot_mat.T)
-            if name == 'scannet':
+            if aligned:
                 gt_bboxes_3d = self._rotate_aligned_boxes(
                     gt_bboxes_3d, rot_mat)
             else:

tests/test_indoor_augment.py

 import numpy as np
 
-from mmdet3d.datasets.pipelines.indoor_augment import (IndoorFlipData,
-                                                       IndoorGlobalRotScale)
+from mmdet3d.datasets.pipelines import IndoorFlipData, IndoorGlobalRotScale
 
 
 def test_indoor_flip_data():
     np.random.seed(0)
-    sunrgbd_indoor_flip_data = IndoorFlipData()
+    sunrgbd_indoor_flip_data = IndoorFlipData(1, 1)
     sunrgbd_results = dict()
     sunrgbd_results['points'] = np.array(
         [[1.02828765e+00, 3.65790772e+00, 1.97294697e-01, 1.61959505e+00],
@@ -36,7 +35,7 @@ def test_indoor_flip_data():
     assert np.allclose(sunrgbd_gt_bboxes_3d, expected_sunrgbd_gt_bboxes_3d)
 
     np.random.seed(0)
-    scannet_indoor_flip_data = IndoorFlipData()
+    scannet_indoor_flip_data = IndoorFlipData(1, 1)
     scannet_results = dict()
     scannet_results['points'] = np.array(
         [[1.6110241e+00, -1.6903955e-01, 5.8115810e-01, 5.9897250e-01],