[FIx] fix s3dis dataset bug (#1683)

* fix s3dis dataset bug

* fix class

* fix ceph replace

configs/_base_/datasets/s3dis_seg-3d-13class.py

@@ -58,6 +58,12 @@ test_pipeline = [
         use_color=True,
         load_dim=6,
         use_dim=[0, 1, 2, 3, 4, 5]),
+    dict(
+        type='LoadAnnotations3D',
+        with_bbox_3d=False,
+        with_label_3d=False,
+        with_mask_3d=False,
+        with_seg_3d=True),
     dict(type='NormalizePointsColor', color_mean=None),
     dict(
         # a wrapper in order to successfully call test function
@@ -105,17 +111,14 @@ train_dataloader = dict(
     dataset=dict(
         type=dataset_type,
         data_root=data_root,
-        ann_files=[
-            data_root + f's3dis_infos_Area_{i}.pkl' for i in train_area
-        ],
+        ann_files=[f's3dis_infos_Area_{i}.pkl' for i in train_area],
         metainfo=metainfo,
         data_prefix=data_prefix,
         pipeline=train_pipeline,
         modality=input_modality,
         ignore_index=len(class_names),
         scene_idxs=[
-            data_root + f'seg_info/Area_{i}_resampled_scene_idxs.npy'
-            for i in train_area
+            f'seg_info/Area_{i}_resampled_scene_idxs.npy' for i in train_area
         ],
         test_mode=False))
 test_dataloader = dict(
@@ -127,14 +130,13 @@ test_dataloader = dict(
     dataset=dict(
         type=dataset_type,
         data_root=data_root,
-        ann_files=data_root + f's3dis_infos_Area_{test_area}.pkl',
+        ann_files=f's3dis_infos_Area_{test_area}.pkl',
         metainfo=metainfo,
         data_prefix=data_prefix,
         pipeline=test_pipeline,
         modality=input_modality,
         ignore_index=len(class_names),
-        scene_idxs=data_root +
-        f'seg_info/Area_{test_area}_resampled_scene_idxs.npy',
+        scene_idxs=f'seg_info/Area_{test_area}_resampled_scene_idxs.npy',
         test_mode=True))
 val_dataloader = test_dataloader
 

configs/_base_/datasets/scannet-3d-18class.py

 # dataset settings
 dataset_type = 'ScanNetDataset'
-data_root = './data/scannet/'
+data_root = 'data/scannet/'
 
 metainfo = dict(
     CLASSES=('cabinet', 'bed', 'chair', 'sofa', 'table', 'door', 'window',

mmdet3d/datasets/s3dis_dataset.py

@@ -298,6 +298,7 @@ class S3DISSegDataset(_S3DISSegDataset):
             ignore_index=ignore_index,
             scene_idxs=scene_idxs[0],
             test_mode=test_mode,
+            serialize_data=False,
             **kwargs)
 
         datasets = [
@@ -311,6 +312,7 @@ class S3DISSegDataset(_S3DISSegDataset):
                 ignore_index=ignore_index,
                 scene_idxs=scene_idxs[i],
                 test_mode=test_mode,
+                serialize_data=False,
                 **kwargs) for i in range(len(ann_files))
         ]
 

mmdet3d/datasets/seg3d_dataset.py

@@ -89,6 +89,7 @@ class Seg3DDataset(BaseDataset):
 
         metainfo['label_mapping'] = self.label_mapping
         metainfo['label2cat'] = self.label2cat
+        metainfo['ignore_index'] = self.ignore_index
         metainfo['seg_valid_class_ids'] = seg_valid_class_ids
 
         # generate palette if it is not defined based on
@@ -145,7 +146,7 @@ class Seg3DDataset(BaseDataset):
             tuple: The mapping from old classes in cls.METAINFO to
                 new classes in metainfo
         """
-        old_classes = self.METAINFO.get('CLASSSES', None)
+        old_classes = self.METAINFO.get('CLASSES', None)
         if (new_classes is not None and old_classes is not None
                 and list(new_classes) != list(old_classes)):
             if not set(new_classes).issubset(old_classes):
@@ -199,7 +200,7 @@ class Seg3DDataset(BaseDataset):
         if palette is None:
             # If palette is not defined, it generate a palette according
             # to the original PALETTE and classes.
-            old_classes = self.METAINFO.get('CLASSSES', None)
+            old_classes = self.METAINFO.get('CLASSES', None)
             palette = [
                 self.METAINFO['PALETTE'][old_classes.index(cls_name)]
                 for cls_name in new_classes
@@ -266,13 +267,14 @@ class Seg3DDataset(BaseDataset):
         """
         if self.test_mode:
             # when testing, we load one whole scene every time
-            return np.arange(len(self.data_list)).astype(np.int32)
+            return np.arange(len(self)).astype(np.int32)
 
         # we may need to re-sample different scenes according to scene_idxs
         # this is necessary for indoor scene segmentation such as ScanNet
         if scene_idxs is None:
-            scene_idxs = np.arange(len(self.data_list))
+            scene_idxs = np.arange(len(self))
         if isinstance(scene_idxs, str):
+            scene_idxs = osp.join(self.data_root, scene_idxs)
             with self.file_client.get_local_path(scene_idxs) as local_path:
                 scene_idxs = np.load(local_path)
         else:

mmdet3d/evaluation/functional/seg_eval.py

@@ -88,8 +88,8 @@ def seg_eval(gt_labels, seg_preds, label2cat, ignore_index, logger=None):
 
     hist_list = []
     for i in range(len(gt_labels)):
-        gt_seg = gt_labels[i].clone().numpy().astype(np.int)
-        pred_seg = seg_preds[i].clone().numpy().astype(np.int)
+        gt_seg = gt_labels[i].astype(np.int)
+        pred_seg = seg_preds[i].astype(np.int)
 
         # filter out ignored points
         pred_seg[gt_seg == ignore_index] = -1

mmdet3d/evaluation/metrics/seg_metric.py

@@ -51,7 +51,7 @@ class SegMetric(BaseMetric):
             cpu_pred_3d = dict()
             for k, v in pred_3d.items():
                 if hasattr(v, 'to'):
-                    cpu_pred_3d[k] = v.to('cpu')
+                    cpu_pred_3d[k] = v.to('cpu').numpy()
                 else:
                     cpu_pred_3d[k] = v
             self.results.append((eval_ann, cpu_pred_3d))

mmdet3d/utils/misc.py

@@ -4,34 +4,42 @@
 def replace_ceph_backend(cfg):
     cfg_pretty_text = cfg.pretty_text
 
-    replace_strs = r'''file_client_args = dict(
+    replace_strs = \
+        r'''file_client_args = dict(
             backend='petrel',
             path_mapping=dict({
-                        '.data/INPLACEHOLD/':
-                        's3://openmmlab/datasets/detection3d/INPLACEHOLD/',
-                        'data/INPLACEHOLD/':
-                        's3://openmmlab/datasets/detection3d/INPLACEHOLD/'
+                '.data/DATA/': 's3://openmmlab/datasets/detection3d/CEPH/',
+                'data/DATA/': 's3://openmmlab/datasets/detection3d/CEPH/'
             }))
         '''
 
     if 'nuscenes' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'nuscenes')
+        replace_strs = replace_strs.replace('DATA', 'nuscenes')
+        replace_strs = replace_strs.replace('CEPH', 'nuscenes')
     elif 'lyft' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'lyft')
+        replace_strs = replace_strs.replace('DATA', 'lyft')
+        replace_strs = replace_strs.replace('CEPH', 'lyft')
     elif 'kitti' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'kitti')
+        replace_strs = replace_strs.replace('DATA', 'kitti')
+        replace_strs = replace_strs.replace('CEPH', 'kitti')
     elif 'waymo' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'waymo')
+        replace_strs = replace_strs.replace('DATA', 'waymo')
+        replace_strs = replace_strs.replace('CEPH', 'waymo')
     elif 'scannet' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'scannet_processed')
+        replace_strs = replace_strs.replace('DATA', 'scannet')
+        replace_strs = replace_strs.replace('CEPH', 'scannet_processed')
     elif 's3dis' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 's3dis_processed')
+        replace_strs = replace_strs.replace('DATA', 's3dis')
+        replace_strs = replace_strs.replace('CEPH', 's3dis_processed')
     elif 'sunrgbd' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'sunrgbd')
+        replace_strs = replace_strs.replace('DATA', 'sunrgbd')
+        replace_strs = replace_strs.replace('CEPH', 'sunrgbd_processed')
     elif 'semantickitti' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'semantickitti')
+        replace_strs = replace_strs.replace('DATA', 'semantickitti')
+        replace_strs = replace_strs.replace('CEPH', 'semantickitti')
     elif 'nuimages' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('INPLACEHOLD', 'nuimages')
+        replace_strs = replace_strs.replace('DATA', 'nuimages')
+        replace_strs = replace_strs.replace('CEPH', 'nuimages')
     else:
         NotImplemented('Does not support global replacement')
 
@@ -42,7 +50,6 @@ def replace_ceph_backend(cfg):
     #   'ann_file', replace_strs + ', ann_file')
 
     # replace LoadImageFromFile
-    replace_strs = replace_strs.replace(' ', '').replace('\n', '')
     cfg_pretty_text = cfg_pretty_text.replace(
         'LoadImageFromFile\'', 'LoadImageFromFile\',' + replace_strs)