[Features] Support waymo challenge solution (#1716)

* update evaluation metric to support waymo cam only evaluation

* add transformation for bev detection

* add multiview dfm

* support multiview detection in datasets with transformation, dfm model and metric

* remove deprecated config and update doc string

* remove file_client_args=file_client_args and update docstr

* add doc string and remove pdb

* fix the doc string of voxel fusion

* add doc string

* remove lidar2img

* add doc string

* update doc string

* support waymo dataset for replace_ceph and modify path of pkl in config

* update evaluation metrics; and the config for waymo solution

* fix the index error in waymo metric and add lidar2img utils function

* replace __call_ to transform

* fix doc string

* rename configs

* update the config name

* update the lidar2cam calib in waymo data creater
Co-authored-by: lianqing <lianqing1997@gmail.com>
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

mmdet3d/structures/bbox_3d/utils.py

@@ -333,3 +333,25 @@ def yaw2local(yaw, loc):
         local_yaw[small_idx] += 2 * np.pi
 
     return local_yaw
+
+
+def get_lidar2img(cam2img, lidar2cam):
+    """Get the projection matrix of lidar2img.
+
+    Args:
+        cam2img (torch.Tensor): A 3x3 or 4x4 projection matrix.
+        lidar2cam (torch.Tensor): A 3x3 or 4x4 projection matrix.
+
+    Returns:
+        torch.Tensor: transformation matrix with shape 4x4.
+    """
+    if cam2img.shape == (3, 3):
+        temp = cam2img.new_zeros(4, 4)
+        temp[:3, :3] = cam2img
+        cam2img = temp
+
+    if lidar2cam.shape == (3, 3):
+        temp = lidar2cam.new_zeros(4, 4)
+        temp[:3, :3] = lidar2cam
+        lidar2cam = temp
+    return torch.matmul(cam2img, lidar2cam)

mmdet3d/utils/misc.py

@@ -58,6 +58,11 @@ def replace_ceph_backend(cfg):
         'LoadImageFromFileMono3D\'',
         'LoadImageFromFileMono3D\',' + replace_strs)
 
+    # replace LoadMultiViewImageFromFiles
+    cfg_pretty_text = cfg_pretty_text.replace(
+        'LoadMultiViewImageFromFiles\'',
+        'LoadMultiViewImageFromFiles\',' + replace_strs)
+
     # replace LoadPointsFromFile
     cfg_pretty_text = cfg_pretty_text.replace(
         'LoadPointsFromFile\'', 'LoadPointsFromFile\',' + replace_strs)