fix vis hook bug (#1839)

mmdet3d/datasets/det3d_dataset.py

@@ -241,6 +241,7 @@ class Det3DDataset(BaseDataset):
                     self.data_prefix.get('pts', ''),
                     info['lidar_points']['lidar_path'])
 
+            info['num_pts_feats'] = info['lidar_points']['num_pts_feats']
             info['lidar_path'] = info['lidar_points']['lidar_path']
             if 'lidar_sweeps' in info:
                 for sweep in info['lidar_sweeps']:

mmdet3d/datasets/transforms/formating.py

@@ -68,8 +68,9 @@ class Pack3DDetInputs(BaseTransform):
                            'depth2img', 'cam2img', 'pad_shape', 'scale_factor',
                            'flip', 'pcd_horizontal_flip', 'pcd_vertical_flip',
                            'box_mode_3d', 'box_type_3d', 'img_norm_cfg',
-                           'pcd_trans', 'sample_idx', 'pcd_scale_factor',
-                           'pcd_rotation', 'pcd_rotation_angle', 'lidar_path',
+                           'num_pts_feats', 'pcd_trans', 'sample_idx',
+                           'pcd_scale_factor', 'pcd_rotation',
+                           'pcd_rotation_angle', 'lidar_path',
                            'transformation_3d_flow', 'trans_mat',
                            'affine_aug')):
         self.keys = keys

mmdet3d/engine/hooks/visualization_hook.py

@@ -4,6 +4,7 @@ import warnings
 from typing import Optional, Sequence
 
 import mmcv
+import numpy as np
 from mmengine.fileio import FileClient
 from mmengine.hooks import Hook
 from mmengine.runner import Runner
@@ -95,15 +96,27 @@ class Det3DVisualizationHook(Hook):
         # is visualized for each evaluation.
         total_curr_iter = runner.iter + batch_idx
 
+        data_input = dict()
+
         # Visualize only the first data
-        img_path = outputs[0].img_path
-        img_bytes = self.file_client.get(img_path)
-        img = mmcv.imfrombytes(img_bytes, channel_order='rgb')
+        if 'img_path' in outputs[0]:
+            img_path = outputs[0].img_path
+            img_bytes = self.file_client.get(img_path)
+            img = mmcv.imfrombytes(img_bytes, channel_order='rgb')
+            data_input['img'] = img
+
+        if 'lidar_path' in outputs[0]:
+            lidar_path = outputs[0].lidar_path
+            num_pts_feats = outputs[0].num_pts_feats
+            pts_bytes = self.file_client.get(lidar_path)
+            points = np.frombuffer(pts_bytes, dtype=np.float32)
+            points = points.reshape(-1, num_pts_feats)
+            data_input['points'] = points
 
         if total_curr_iter % self.interval == 0:
             self._visualizer.add_datasample(
-                osp.basename(img_path) if self.show else 'val_img',
-                img,
+                'val sample',
+                data_input,
                 data_sample=outputs[0],
                 show=self.show,
                 wait_time=self.wait_time,
@@ -135,18 +148,28 @@ class Det3DVisualizationHook(Hook):
         for data_sample in outputs:
             self._test_index += 1
 
-            img_path = data_sample.img_path
-            img_bytes = self.file_client.get(img_path)
-            img = mmcv.imfrombytes(img_bytes, channel_order='rgb')
+            data_input = dict()
+            if 'img_path' in data_sample:
+                img_path = data_sample.img_path
+                img_bytes = self.file_client.get(img_path)
+                img = mmcv.imfrombytes(img_bytes, channel_order='rgb')
+                data_input['img'] = img
+
+            if 'lidar_path' in data_sample:
+                lidar_path = data_sample.lidar_path
+                num_pts_feats = data_sample.num_pts_feats
+                pts_bytes = self.file_client.get(lidar_path)
+                points = np.frombuffer(pts_bytes, dtype=np.float32)
+                points = points.reshape(-1, num_pts_feats)
+                data_input['points'] = points
 
             out_file = None
             if self.test_out_dir is not None:
-                out_file = osp.basename(img_path)
-                out_file = osp.join(self.test_out_dir, out_file)
+                out_file = self.test_out_dir
 
             self._visualizer.add_datasample(
-                osp.basename(img_path) if self.show else 'test_img',
-                img,
+                'test sample',
+                data_input,
                 data_sample=data_sample,
                 show=self.show,
                 wait_time=self.wait_time,

mmdet3d/visualization/local_visualizer.py

@@ -525,14 +525,14 @@ class Det3DLocalVisualizer(DetLocalVisualizer):
                     data_input, data_sample.gt_instances_3d,
                     data_sample.metainfo, vis_task, palette)
             if 'gt_instances' in data_sample:
-                assert 'img' in data_input
-                if isinstance(data_input['img'], Tensor):
-                    img = data_input['img'].permute(1, 2, 0).numpy()
-                    img = img[..., [2, 1, 0]]  # bgr to rgb
-                gt_img_data = self._draw_instances(img,
-                                                   data_sample.gt_instances,
-                                                   classes, palette)
-            if 'gt_pts_seg' in data_sample:
+                if len(data_sample.gt_instances) > 0:
+                    assert 'img' in data_input
+                    if isinstance(data_input['img'], Tensor):
+                        img = data_input['img'].permute(1, 2, 0).numpy()
+                        img = img[..., [2, 1, 0]]  # bgr to rgb
+                    gt_img_data = self._draw_instances(
+                        img, data_sample.gt_instances, classes, palette)
+            if 'gt_pts_seg' in data_sample and vis_task == 'seg':
                 assert classes is not None, 'class information is ' \
                                             'not provided when ' \
                                             'visualizing panoptic ' \

tests/test_engine/test_hooks/test_visualization_hook.py

@@ -5,42 +5,59 @@ import time
 from unittest import TestCase
 from unittest.mock import Mock
 
+import numpy as np
 import torch
 from mmengine.structures import InstanceData
 
 from mmdet3d.engine.hooks import Det3DVisualizationHook
-from mmdet3d.structures import Det3DDataSample
+from mmdet3d.structures import Det3DDataSample, LiDARInstance3DBoxes
 from mmdet3d.visualization import Det3DLocalVisualizer
 
 
-def _rand_bboxes(num_boxes, h, w):
-    cx, cy, bw, bh = torch.rand(num_boxes, 4).T
-
-    tl_x = ((cx * w) - (w * bw / 2)).clip(0, w)
-    tl_y = ((cy * h) - (h * bh / 2)).clip(0, h)
-    br_x = ((cx * w) + (w * bw / 2)).clip(0, w)
-    br_y = ((cy * h) + (h * bh / 2)).clip(0, h)
-
-    bboxes = torch.vstack([tl_x, tl_y, br_x, br_y]).T
-    return bboxes
-
-
 class TestVisualizationHook(TestCase):
 
     def setUp(self) -> None:
         Det3DLocalVisualizer.get_instance('visualizer')
 
-        pred_instances = InstanceData()
-        pred_instances.bboxes = _rand_bboxes(5, 10, 12)
-        pred_instances.labels = torch.randint(0, 2, (5, ))
-        pred_instances.scores = torch.rand((5, ))
-        pred_det_data_sample = Det3DDataSample()
-        pred_det_data_sample.set_metainfo({
+        pred_instances_3d = InstanceData()
+        pred_instances_3d.bboxes_3d = LiDARInstance3DBoxes(
+            torch.tensor(
+                [[8.7314, -1.8559, -1.5997, 1.2000, 0.4800, 1.8900, -1.5808]]))
+        pred_instances_3d.labels_3d = torch.tensor([0])
+        pred_instances_3d.scores_3d = torch.tensor([0.8])
+
+        pred_det3d_data_sample = Det3DDataSample()
+        pred_det3d_data_sample.set_metainfo({
+            'num_pts_feats':
+            4,
+            'lidar2img':
+            np.array([[
+                6.02943734e+02, -7.07913286e+02, -1.22748427e+01,
+                -1.70942724e+02
+            ],
+                      [
+                          1.76777261e+02, 8.80879902e+00, -7.07936120e+02,
+                          -1.02568636e+02
+                      ],
+                      [
+                          9.99984860e-01, -1.52826717e-03, -5.29071223e-03,
+                          -3.27567990e-01
+                      ],
+                      [
+                          0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
+                          1.00000000e+00
+                      ]]),
             'img_path':
-            osp.join(osp.dirname(__file__), '../../data/color.jpg')
+            osp.join(
+                osp.dirname(__file__),
+                '../../data/kitti/training/image_2/000000.png'),
+            'lidar_path':
+            osp.join(
+                osp.dirname(__file__),
+                '../../data/kitti/training/velodyne_reduced/000000.bin')
         })
-        pred_det_data_sample.pred_instances = pred_instances
-        self.outputs = [pred_det_data_sample] * 2
+        pred_det3d_data_sample.pred_instances_3d = pred_instances_3d
+        self.outputs = [pred_det3d_data_sample] * 2
 
     def test_after_val_iter(self):
         runner = Mock()