[Enhance] Add pipeline for data loading (#430)

* reuse pipeline in scannet-det dataset

* reuse pipeline in kitti dataset

* reuse pipeline in lyft dataset

* reuse pipeline in sunrgbd dataset

* reuse pipeline in nuscenes dataset

* reuse pipeline in waymo dataset

* reuse pipeline in scannet-seg dataset

* add eval_pipeline in configs which have custom data pipelines

* move data loading via pipeline to dataset._extract_data() for clarity

* use eval_pipeline in tools/misc/visualize_results.py

* get_pipeline from self when no pipeline is provided

* fix small bugs

* fix small bugs

* simplify and clear code

* remove unnecessary eval_pipeline added

* add comment about why we set self.test_mode=False

* small fix

* modify docs about config

configs/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py

@@ -260,6 +260,16 @@ test_pipeline = [
             dict(type='Collect3D', keys=['points'])
         ])
 ]
+# construct a pipeline for data and gt loading in show function
+# please keep its loading function consistent with test_pipeline (e.g. client)
+eval_pipeline = [
+    dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
+    dict(
+        type='DefaultFormatBundle3D',
+        class_names=class_names,
+        with_label=False),
+    dict(type='Collect3D', keys=['points'])
+]
 
 data = dict(
     samples_per_gpu=2,
@@ -301,4 +311,5 @@ data = dict(
 # Part-A2 uses a different learning rate from what SECOND uses.
 lr = 0.001
 optimizer = dict(lr=lr)
+evaluation = dict(pipeline=eval_pipeline)
 find_unused_parameters = True

docs/tutorials/config.md

@@ -242,6 +242,22 @@ test_pipeline = [  # Testing pipeline, refer to mmdet3d.datasets.pipelines for m
     dict(type='Collect3D',  # Pipeline that decides which keys in the data should be passed to the detector, refer to mmdet3d.datasets.pipelines.formating for more details
         keys=['points'])
 ]
+eval_pipeline = [  # Pipeline used for evaluation or visualization, refer to mmdet3d.datasets.pipelines for more details
+    dict(
+        type='LoadPointsFromFile',  # First pipeline to load points, refer to mmdet3d.datasets.pipelines.indoor_loading for more details
+        shift_height=True,  # Whether to use shifted height
+        load_dim=6,  # The dimension of the loaded points
+        use_dim=[0, 1, 2]),  # Which dimensions of the points to be used
+    dict(
+        type='DefaultFormatBundle3D',  # Default format bundle to gather data in the pipeline, refer to mmdet3d.datasets.pipelines.formating for more details
+        class_names=('cabinet', 'bed', 'chair', 'sofa', 'table', 'door',
+                     'window', 'bookshelf', 'picture', 'counter', 'desk',
+                     'curtain', 'refrigerator', 'showercurtrain', 'toilet',
+                     'sink', 'bathtub', 'garbagebin')),
+        with_label=False),
+    dict(type='Collect3D',  # Pipeline that decides which keys in the data should be passed to the detector, refer to mmdet3d.datasets.pipelines.formating for more details
+        keys=['points'])
+]
 data = dict(
     samples_per_gpu=8,  # Batch size of a single GPU
     workers_per_gpu=4,  # Worker to pre-fetch data for each single GPU
@@ -347,6 +363,22 @@ data = dict(
                  'refrigerator', 'showercurtrain', 'toilet', 'sink', 'bathtub',
                  'garbagebin'),  # Names of classes
         test_mode=True))  # Whether to use test mode
+evaluation = dict(pipeline=[  # Pipeline is passed by eval_pipeline created before
+    dict(
+        type='LoadPointsFromFile',
+        coord_type='DEPTH',
+        shift_height=False,
+        load_dim=6,
+        use_dim=[0, 1, 2]),
+    dict(
+        type='DefaultFormatBundle3D',
+        class_names=('cabinet', 'bed', 'chair', 'sofa', 'table', 'door',
+                     'window', 'bookshelf', 'picture', 'counter', 'desk',
+                     'curtain', 'refrigerator', 'showercurtrain', 'toilet',
+                     'sink', 'bathtub', 'garbagebin'),
+        with_label=False),
+    dict(type='Collect3D', keys=['points'])
+])
 lr = 0.008  # Learning rate of optimizers
 optimizer = dict(  # Config used to build optimizer, support all the optimizers in PyTorch whose arguments are also the same as those in PyTorch
     type='Adam',  # Type of optimizers,   # Type of optimizers, refer to https://github.com/open-mmlab/mmdetection/blob/master/mmdet/core/optimizer/default_constructor.py#L13 for more details

mmdet3d/datasets/custom_3d.py

 import mmcv
 import numpy as np
 import tempfile
+import warnings
 from os import path as osp
 from torch.utils.data import Dataset
 
 from mmdet.datasets import DATASETS
 from ..core.bbox import get_box_type
 from .pipelines import Compose
+from .utils import get_loading_pipeline
 
 
 @DATASETS.register_module()
@@ -226,7 +228,8 @@ class Custom3DDataset(Dataset):
                  iou_thr=(0.25, 0.5),
                  logger=None,
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluate.
 
         Evaluation in indoor protocol.
@@ -239,6 +242,8 @@ class Custom3DDataset(Dataset):
                 Default: False.
             out_dir (str): Path to save the visualization results.
                 Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict: Evaluation results.
@@ -262,10 +267,88 @@ class Custom3DDataset(Dataset):
             box_type_3d=self.box_type_3d,
             box_mode_3d=self.box_mode_3d)
         if show:
-            self.show(results, out_dir)
+            self.show(results, out_dir, pipeline=pipeline)
 
         return ret_dict
 
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        raise NotImplementedError('_build_default_pipeline is not implemented '
+                                  f'for dataset {self.__class__.__name__}')
+
+    def _get_pipeline(self, pipeline):
+        """Get data loading pipeline in self.show/evaluate function.
+
+        Args:
+            pipeline (list[dict] | None): Input pipeline. If None is given, \
+                get from self.pipeline.
+        """
+        if pipeline is None:
+            if not hasattr(self, 'pipeline') or self.pipeline is None:
+                warnings.warn(
+                    'Use default pipeline for data loading, this may cause '
+                    'errors when data is on ceph')
+                return self._build_default_pipeline()
+            loading_pipeline = get_loading_pipeline(self.pipeline.transforms)
+            return Compose(loading_pipeline)
+        return Compose(pipeline)
+
+    @staticmethod
+    def _get_data(results, key):
+        """Extract and return the data corresponding to key in result dict.
+
+        Args:
+            results (dict): Data loaded using pipeline.
+            key (str): Key of the desired data.
+
+        Returns:
+            np.ndarray | torch.Tensor | None: Data term.
+        """
+        if key not in results.keys():
+            return None
+        # results[key] may be data or list[data]
+        # data may be wrapped inside DataContainer
+        data = results[key]
+        if isinstance(data, list) or isinstance(data, tuple):
+            data = data[0]
+        if isinstance(data, mmcv.parallel.DataContainer):
+            data = data._data
+        return data
+
+    def _extract_data(self, index, pipeline, key, load_annos=False):
+        """Load data using input pipeline and extract data according to key.
+
+        Args:
+            index (int): Index for accessing the target data.
+            pipeline (:obj:`Compose`): Composed data loading pipeline.
+            key (str | list[str]): One single or a list of data key.
+            load_annos (bool): Whether to load data annotations.
+                If True, need to set self.test_mode as False before loading.
+
+        Returns:
+            np.ndarray | torch.Tensor | list[np.ndarray | torch.Tensor]:
+                A single or a list of loaded data.
+        """
+        assert pipeline is not None, 'data loading pipeline is not provided'
+        # when we want to load ground-truth via pipeline (e.g. bbox, seg mask)
+        # we need to set self.test_mode as False so that we have 'annos'
+        if load_annos:
+            original_test_mode = self.test_mode
+            self.test_mode = False
+        input_dict = self.get_data_info(index)
+        self.pre_pipeline(input_dict)
+        example = pipeline(input_dict)
+
+        # extract data items according to keys
+        if isinstance(key, str):
+            data = self._get_data(example, key)
+        else:
+            data = [self._get_data(example, k) for k in key]
+        if load_annos:
+            self.test_mode = original_test_mode
+
+        return data
+
     def __len__(self):
         """Return the length of data infos.
 

mmdet3d/datasets/custom_3d_seg.py

 import mmcv
 import numpy as np
 import tempfile
-import torch
+import warnings
 from os import path as osp
 from torch.utils.data import Dataset
 
 from mmdet.datasets import DATASETS
 from .pipelines import Compose
+from .utils import get_loading_pipeline
 
 
 @DATASETS.register_module()
@@ -308,27 +309,13 @@ class Custom3DSegDataset(Dataset):
         mmcv.dump(outputs, out)
         return outputs, tmp_dir
 
-    def convert_to_label(self, mask):
-        """Convert class_id in segmentation mask to label."""
-        # TODO: currently only support loading from local
-        # TODO: may need to consider ceph data storage in the future
-        if isinstance(mask, str):
-            if mask.endswith('npy'):
-                mask = np.load(mask)
-            else:
-                mask = np.fromfile(mask, dtype=np.long)
-        mask_copy = mask.copy()
-        for class_id, label in self.label_map.items():
-            mask_copy[mask == class_id] = label
-
-        return mask_copy
-
     def evaluate(self,
                  results,
                  metric=None,
                  logger=None,
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluate.
 
         Evaluation in semantic segmentation protocol.
@@ -342,6 +329,8 @@ class Custom3DSegDataset(Dataset):
                 Defaults to False.
             out_dir (str, optional): Path to save the visualization results.
                 Defaults to None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict: Evaluation results.
@@ -354,13 +343,13 @@ class Custom3DSegDataset(Dataset):
         assert isinstance(
             results[0], dict
         ), f'Expect elements in results to be dict, got {type(results[0])}.'
+
+        load_pipeline = self._get_pipeline(pipeline)
         pred_sem_masks = [result['semantic_mask'] for result in results]
         gt_sem_masks = [
-            torch.from_numpy(
-                self.convert_to_label(
-                    osp.join(self.data_root,
-                             data_info['pts_semantic_mask_path'])))
-            for data_info in self.data_infos
+            self._extract_data(
+                i, load_pipeline, 'pts_semantic_mask', load_annos=True)
+            for i in range(len(self.data_infos))
         ]
         ret_dict = seg_eval(
             gt_sem_masks,
@@ -368,8 +357,9 @@ class Custom3DSegDataset(Dataset):
             self.label2cat,
             self.ignore_index,
             logger=logger)
+
         if show:
-            self.show(pred_sem_masks, out_dir)
+            self.show(pred_sem_masks, out_dir, pipeline=pipeline)
 
         return ret_dict
 
@@ -382,6 +372,84 @@ class Custom3DSegDataset(Dataset):
         pool = np.where(self.flag == self.flag[idx])[0]
         return np.random.choice(pool)
 
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        raise NotImplementedError('_build_default_pipeline is not implemented '
+                                  f'for dataset {self.__class__.__name__}')
+
+    def _get_pipeline(self, pipeline):
+        """Get data loading pipeline in self.show/evaluate function.
+
+        Args:
+            pipeline (list[dict] | None): Input pipeline. If None is given, \
+                get from self.pipeline.
+        """
+        if pipeline is None:
+            if not hasattr(self, 'pipeline') or self.pipeline is None:
+                warnings.warn(
+                    'Use default pipeline for data loading, this may cause '
+                    'errors when data is on ceph')
+                return self._build_default_pipeline()
+            loading_pipeline = get_loading_pipeline(self.pipeline.transforms)
+            return Compose(loading_pipeline)
+        return Compose(pipeline)
+
+    @staticmethod
+    def _get_data(results, key):
+        """Extract and return the data corresponding to key in result dict.
+
+        Args:
+            results (dict): Data loaded using pipeline.
+            key (str): Key of the desired data.
+
+        Returns:
+            np.ndarray | torch.Tensor | None: Data term.
+        """
+        if key not in results.keys():
+            return None
+        # results[key] may be data or list[data]
+        # data may be wrapped inside DataContainer
+        data = results[key]
+        if isinstance(data, list) or isinstance(data, tuple):
+            data = data[0]
+        if isinstance(data, mmcv.parallel.DataContainer):
+            data = data._data
+        return data
+
+    def _extract_data(self, index, pipeline, key, load_annos=False):
+        """Load data using input pipeline and extract data according to key.
+
+        Args:
+            index (int): Index for accessing the target data.
+            pipeline (:obj:`Compose`): Composed data loading pipeline.
+            key (str | list[str]): One single or a list of data key.
+            load_annos (bool): Whether to load data annotations.
+                If True, need to set self.test_mode as False before loading.
+
+        Returns:
+            np.ndarray | torch.Tensor | list[np.ndarray | torch.Tensor]:
+                A single or a list of loaded data.
+        """
+        assert pipeline is not None, 'data loading pipeline is not provided'
+        # when we want to load ground-truth via pipeline (e.g. bbox, seg mask)
+        # we need to set self.test_mode as False so that we have 'annos'
+        if load_annos:
+            original_test_mode = self.test_mode
+            self.test_mode = False
+        input_dict = self.get_data_info(index)
+        self.pre_pipeline(input_dict)
+        example = pipeline(input_dict)
+
+        # extract data items according to keys
+        if isinstance(key, str):
+            data = self._get_data(example, key)
+        else:
+            data = [self._get_data(example, k) for k in key]
+        if load_annos:
+            self.test_mode = original_test_mode
+
+        return data
+
     def __len__(self):
         """Return the length of scene_idxs.
 

mmdet3d/datasets/kitti_dataset.py

@@ -12,6 +12,7 @@ from ..core import show_multi_modality_result, show_result
 from ..core.bbox import (Box3DMode, CameraInstance3DBoxes, Coord3DMode,
                          LiDARInstance3DBoxes, points_cam2img)
 from .custom_3d import Custom3DDataset
+from .pipelines import Compose
 
 
 @DATASETS.register_module()
@@ -300,7 +301,8 @@ class KittiDataset(Custom3DDataset):
                  pklfile_prefix=None,
                  submission_prefix=None,
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluation in KITTI protocol.
 
         Args:
@@ -317,6 +319,8 @@ class KittiDataset(Custom3DDataset):
                 Default: False.
             out_dir (str): Path to save the visualization results.
                 Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict[str, float]: Results of each evaluation metric.
@@ -354,7 +358,7 @@ class KittiDataset(Custom3DDataset):
         if tmp_dir is not None:
             tmp_dir.cleanup()
         if show:
-            self.show(results, out_dir)
+            self.show(results, out_dir, pipeline=pipeline)
         return ap_dict
 
     def bbox2result_kitti(self,
@@ -668,22 +672,47 @@ class KittiDataset(Custom3DDataset):
                 label_preds=np.zeros([0, 4]),
                 sample_idx=sample_idx)
 
-    def show(self, results, out_dir, show=True):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='LIDAR',
+                load_dim=4,
+                use_dim=4,
+                file_client_args=dict(backend='disk')),
+            dict(
+                type='DefaultFormatBundle3D',
+                class_names=self.CLASSES,
+                with_label=False),
+            dict(type='Collect3D', keys=['points'])
+        ]
+        if self.modality['use_camera']:
+            pipeline.insert(0, dict(type='LoadImageFromFile'))
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
             show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
         assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
-            example = self.prepare_test_data(i)
+            if 'pts_bbox' in result.keys():
+                result = result['pts_bbox']
             data_info = self.data_infos[i]
             pts_path = data_info['point_cloud']['velodyne_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
+            points, img_metas, img = self._extract_data(
+                i, pipeline, ['points', 'img_metas', 'img'])
+            points = points.numpy()
             # for now we convert points into depth mode
-            points = example['points'][0]._data.numpy()
             points = Coord3DMode.convert_point(points, Coord3DMode.LIDAR,
                                                Coord3DMode.DEPTH)
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
@@ -696,9 +725,10 @@ class KittiDataset(Custom3DDataset):
                         file_name, show)
 
             # multi-modality visualization
-            if self.modality['use_camera'] and \
-                    'lidar2img' in example['img_metas'][0]._data.keys():
-                img = mmcv.imread(example['img_metas'][0]._data['filename'])
+            if self.modality['use_camera'] and 'lidar2img' in img_metas.keys():
+                img = img.numpy()
+                # need to transpose channel to first dim
+                img = img.transpose(1, 2, 0)
                 show_pred_bboxes = LiDARInstance3DBoxes(
                     pred_bboxes, origin=(0.5, 0.5, 0))
                 show_gt_bboxes = LiDARInstance3DBoxes(
@@ -707,7 +737,7 @@ class KittiDataset(Custom3DDataset):
                     img,
                     show_gt_bboxes,
                     show_pred_bboxes,
-                    example['img_metas'][0]._data['lidar2img'],
+                    img_metas['lidar2img'],
                     out_dir,
                     file_name,
                     show=False)

mmdet3d/datasets/lyft_dataset.py

@@ -12,6 +12,7 @@ from mmdet.datasets import DATASETS
 from ..core import show_result
 from ..core.bbox import Box3DMode, Coord3DMode, LiDARInstance3DBoxes
 from .custom_3d import Custom3DDataset
+from .pipelines import Compose
 
 
 @DATASETS.register_module()
@@ -356,7 +357,8 @@ class LyftDataset(Custom3DDataset):
                  csv_savepath=None,
                  result_names=['pts_bbox'],
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluation in Lyft protocol.
 
         Args:
@@ -375,6 +377,8 @@ class LyftDataset(Custom3DDataset):
                 Default: False.
             out_dir (str): Path to save the visualization results.
                 Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict[str, float]: Evaluation results.
@@ -395,33 +399,60 @@ class LyftDataset(Custom3DDataset):
             tmp_dir.cleanup()
 
         if show:
-            self.show(results, out_dir)
+            self.show(results, out_dir, pipeline=pipeline)
         return results_dict
 
-    def show(self, results, out_dir):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='LIDAR',
+                load_dim=5,
+                use_dim=5,
+                file_client_args=dict(backend='disk')),
+            dict(
+                type='LoadPointsFromMultiSweeps',
+                sweeps_num=10,
+                file_client_args=dict(backend='disk')),
+            dict(
+                type='DefaultFormatBundle3D',
+                class_names=self.CLASSES,
+                with_label=False),
+            dict(type='Collect3D', keys=['points'])
+        ]
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
+            show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
+        assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
-            example = self.prepare_test_data(i)
-            points = example['points'][0]._data.numpy()
+            if 'pts_bbox' in result.keys():
+                result = result['pts_bbox']
             data_info = self.data_infos[i]
             pts_path = data_info['lidar_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
-            # for now we convert points into depth mode
+            points = self._extract_data(i, pipeline, 'points').numpy()
             points = Coord3DMode.convert_point(points, Coord3DMode.LIDAR,
                                                Coord3DMode.DEPTH)
-            inds = result['pts_bbox']['scores_3d'] > 0.1
+            inds = result['scores_3d'] > 0.1
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
-            gt_bboxes = Box3DMode.convert(gt_bboxes, Box3DMode.LIDAR,
-                                          Box3DMode.DEPTH)
-            pred_bboxes = result['pts_bbox']['boxes_3d'][inds].tensor.numpy()
-            pred_bboxes = Box3DMode.convert(pred_bboxes, Box3DMode.LIDAR,
-                                            Box3DMode.DEPTH)
-            show_result(points, gt_bboxes, pred_bboxes, out_dir, file_name)
+            show_gt_bboxes = Box3DMode.convert(gt_bboxes, Box3DMode.LIDAR,
+                                               Box3DMode.DEPTH)
+            pred_bboxes = result['boxes_3d'][inds].tensor.numpy()
+            show_pred_bboxes = Box3DMode.convert(pred_bboxes, Box3DMode.LIDAR,
+                                                 Box3DMode.DEPTH)
+            show_result(points, show_gt_bboxes, show_pred_bboxes, out_dir,
+                        file_name, show)
 
     def json2csv(self, json_path, csv_savepath):
         """Convert the json file to csv format for submission.

mmdet3d/datasets/nuscenes_dataset.py

@@ -9,6 +9,7 @@ from mmdet.datasets import DATASETS
 from ..core import show_result
 from ..core.bbox import Box3DMode, Coord3DMode, LiDARInstance3DBoxes
 from .custom_3d import Custom3DDataset
+from .pipelines import Compose
 
 
 @DATASETS.register_module()
@@ -453,7 +454,8 @@ class NuScenesDataset(Custom3DDataset):
                  jsonfile_prefix=None,
                  result_names=['pts_bbox'],
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluation in nuScenes protocol.
 
         Args:
@@ -468,6 +470,8 @@ class NuScenesDataset(Custom3DDataset):
                 Default: False.
             out_dir (str): Path to save the visualization results.
                 Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict[str, float]: Results of each evaluation metric.
@@ -487,33 +491,61 @@ class NuScenesDataset(Custom3DDataset):
             tmp_dir.cleanup()
 
         if show:
-            self.show(results, out_dir)
+            self.show(results, out_dir, pipeline=pipeline)
         return results_dict
 
-    def show(self, results, out_dir):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='LIDAR',
+                load_dim=5,
+                use_dim=5,
+                file_client_args=dict(backend='disk')),
+            dict(
+                type='LoadPointsFromMultiSweeps',
+                sweeps_num=10,
+                file_client_args=dict(backend='disk')),
+            dict(
+                type='DefaultFormatBundle3D',
+                class_names=self.CLASSES,
+                with_label=False),
+            dict(type='Collect3D', keys=['points'])
+        ]
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
+            show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
+        assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
-            example = self.prepare_test_data(i)
-            points = example['points'][0]._data.numpy()
+            if 'pts_bbox' in result.keys():
+                result = result['pts_bbox']
             data_info = self.data_infos[i]
             pts_path = data_info['lidar_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
+            points = self._extract_data(i, pipeline, 'points').numpy()
             # for now we convert points into depth mode
             points = Coord3DMode.convert_point(points, Coord3DMode.LIDAR,
                                                Coord3DMode.DEPTH)
-            inds = result['pts_bbox']['scores_3d'] > 0.1
+            inds = result['scores_3d'] > 0.1
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
-            gt_bboxes = Box3DMode.convert(gt_bboxes, Box3DMode.LIDAR,
-                                          Box3DMode.DEPTH)
-            pred_bboxes = result['pts_bbox']['boxes_3d'][inds].tensor.numpy()
-            pred_bboxes = Box3DMode.convert(pred_bboxes, Box3DMode.LIDAR,
-                                            Box3DMode.DEPTH)
-            show_result(points, gt_bboxes, pred_bboxes, out_dir, file_name)
+            show_gt_bboxes = Box3DMode.convert(gt_bboxes, Box3DMode.LIDAR,
+                                               Box3DMode.DEPTH)
+            pred_bboxes = result['boxes_3d'][inds].tensor.numpy()
+            show_pred_bboxes = Box3DMode.convert(pred_bboxes, Box3DMode.LIDAR,
+                                                 Box3DMode.DEPTH)
+            show_result(points, show_gt_bboxes, show_pred_bboxes, out_dir,
+                        file_name, show)
 
 
 def output_to_nusc_box(detection):

mmdet3d/datasets/pipelines/__init__.py

 from mmdet.datasets.pipelines import Compose
 from .dbsampler import DataBaseSampler
 from .formating import Collect3D, DefaultFormatBundle, DefaultFormatBundle3D
-from .loading import (LoadAnnotations3D, LoadMultiViewImageFromFiles,
-                      LoadPointsFromFile, LoadPointsFromMultiSweeps,
-                      NormalizePointsColor, PointSegClassMapping)
+from .loading import (LoadAnnotations3D, LoadImageFromFileMono3D,
+                      LoadMultiViewImageFromFiles, LoadPointsFromFile,
+                      LoadPointsFromMultiSweeps, NormalizePointsColor,
+                      PointSegClassMapping)
 from .test_time_aug import MultiScaleFlipAug3D
 from .transforms_3d import (BackgroundPointsFilter, GlobalRotScaleTrans,
                             IndoorPatchPointSample, IndoorPointSample,
@@ -19,5 +20,5 @@ __all__ = [
     'NormalizePointsColor', 'LoadAnnotations3D', 'IndoorPointSample',
     'PointSegClassMapping', 'MultiScaleFlipAug3D', 'LoadPointsFromMultiSweeps',
     'BackgroundPointsFilter', 'VoxelBasedPointSampler',
-    'IndoorPatchPointSample'
+    'IndoorPatchPointSample', 'LoadImageFromFileMono3D'
 ]

mmdet3d/datasets/scannet_dataset.py

@@ -7,6 +7,7 @@ from mmdet3d.core.bbox import DepthInstance3DBoxes
 from mmdet.datasets import DATASETS
 from .custom_3d import Custom3DDataset
 from .custom_3d_seg import Custom3DSegDataset
+from .pipelines import Compose
 
 
 @DATASETS.register_module()
@@ -108,22 +109,40 @@ class ScanNetDataset(Custom3DDataset):
             pts_semantic_mask_path=pts_semantic_mask_path)
         return anns_results
 
-    def show(self, results, out_dir, show=True):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='DEPTH',
+                shift_height=False,
+                load_dim=6,
+                use_dim=[0, 1, 2]),
+            dict(
+                type='DefaultFormatBundle3D',
+                class_names=self.CLASSES,
+                with_label=False),
+            dict(type='Collect3D', keys=['points'])
+        ]
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
             show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
         assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
             data_info = self.data_infos[i]
             pts_path = data_info['pts_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
-            points = np.fromfile(
-                osp.join(self.data_root, pts_path),
-                dtype=np.float32).reshape(-1, 6)
+            points = self._extract_data(i, pipeline, 'points').numpy()
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
             pred_bboxes = result['boxes_3d'].tensor.numpy()
             show_result(points, gt_bboxes, pred_bboxes, out_dir, file_name,
@@ -239,25 +258,53 @@ class ScanNetSegDataset(Custom3DSegDataset):
         anns_results = dict(pts_semantic_mask_path=pts_semantic_mask_path)
         return anns_results
 
-    def show(self, results, out_dir, show=True):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='DEPTH',
+                shift_height=False,
+                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='PointSegClassMapping',
+                valid_cat_ids=(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16,
+                               24, 28, 33, 34, 36, 39)),
+            dict(
+                type='DefaultFormatBundle3D',
+                with_label=False,
+                class_names=self.CLASSES),
+            dict(type='Collect3D', keys=['points', 'pts_semantic_mask'])
+        ]
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
             show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
         assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
             data_info = self.data_infos[i]
             pts_path = data_info['pts_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
-            points = np.fromfile(
-                osp.join(self.data_root, pts_path),
-                dtype=np.float32).reshape(-1, 6)
-            sem_mask_path = data_info['pts_semantic_mask_path']
-            gt_sem_mask = self.convert_to_label(
-                osp.join(self.data_root, sem_mask_path))
+            points, gt_sem_mask = self._extract_data(
+                i, pipeline, ['points', 'pts_semantic_mask'], load_annos=True)
+            points = points.numpy()
             pred_sem_mask = result['semantic_mask'].numpy()
             show_seg_result(points, gt_sem_mask,
                             pred_sem_mask, out_dir, file_name,

mmdet3d/datasets/sunrgbd_dataset.py

-import mmcv
 import numpy as np
 from collections import OrderedDict
 from os import path as osp
@@ -8,6 +7,7 @@ from mmdet3d.core.bbox import DepthInstance3DBoxes
 from mmdet.core import eval_map
 from mmdet.datasets import DATASETS
 from .custom_3d import Custom3DDataset
+from .pipelines import Compose
 
 
 @DATASETS.register_module()
@@ -152,26 +152,45 @@ class SUNRGBDDataset(Custom3DDataset):
 
         return anns_results
 
-    def show(self, results, out_dir, show=True):
+    def _build_default_pipeline(self):
+        """Build the default pipeline for this dataset."""
+        pipeline = [
+            dict(
+                type='LoadPointsFromFile',
+                coord_type='DEPTH',
+                shift_height=False,
+                load_dim=6,
+                use_dim=[0, 1, 2]),
+            dict(
+                type='DefaultFormatBundle3D',
+                class_names=self.CLASSES,
+                with_label=False),
+            dict(type='Collect3D', keys=['points'])
+        ]
+        if self.modality['use_camera']:
+            pipeline.insert(0, dict(type='LoadImageFromFile'))
+        return Compose(pipeline)
+
+    def show(self, results, out_dir, show=True, pipeline=None):
         """Results visualization.
 
         Args:
             results (list[dict]): List of bounding boxes results.
             out_dir (str): Output directory of visualization result.
             show (bool): Visualize the results online.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
         """
         assert out_dir is not None, 'Expect out_dir, got none.'
+        pipeline = self._get_pipeline(pipeline)
         for i, result in enumerate(results):
             data_info = self.data_infos[i]
             pts_path = data_info['pts_path']
             file_name = osp.split(pts_path)[-1].split('.')[0]
-            if hasattr(self, 'pipeline'):
-                example = self.prepare_test_data(i)
-            else:
-                example = None
-            points = np.fromfile(
-                osp.join(self.data_root, pts_path),
-                dtype=np.float32).reshape(-1, 6)
+            points, img_metas, img, calib = self._extract_data(
+                i, pipeline, ['points', 'img_metas', 'img', 'calib'])
+            # scale colors to [0, 255]
+            points = points.numpy()
             points[:, 3:] *= 255
 
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
@@ -180,9 +199,10 @@ class SUNRGBDDataset(Custom3DDataset):
                         file_name, show)
 
             # multi-modality visualization
-            if self.modality['use_camera'] and example is not None and \
-                    'calib' in data_info.keys():
-                img = mmcv.imread(example['img_metas']._data['filename'])
+            if self.modality['use_camera'] and 'calib' in data_info.keys():
+                img = img.numpy()
+                # need to transpose channel to first dim
+                img = img.transpose(1, 2, 0)
                 pred_bboxes = DepthInstance3DBoxes(
                     pred_bboxes, origin=(0.5, 0.5, 0))
                 gt_bboxes = DepthInstance3DBoxes(
@@ -191,11 +211,11 @@ class SUNRGBDDataset(Custom3DDataset):
                     img,
                     gt_bboxes,
                     pred_bboxes,
-                    example['calib'],
+                    calib,
                     out_dir,
                     file_name,
                     depth_bbox=True,
-                    img_metas=example['img_metas']._data,
+                    img_metas=img_metas,
                     show=show)
 
     def evaluate(self,
@@ -205,12 +225,31 @@ class SUNRGBDDataset(Custom3DDataset):
                  iou_thr_2d=(0.5, ),
                  logger=None,
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
+        """Evaluate.
+
+        Evaluation in indoor protocol.
 
+        Args:
+            results (list[dict]): List of results.
+            metric (str | list[str]): Metrics to be evaluated.
+            iou_thr (list[float]): AP IoU thresholds.
+            iou_thr_2d (list[float]): AP IoU thresholds for 2d evaluation.
+            show (bool): Whether to visualize.
+                Default: False.
+            out_dir (str): Path to save the visualization results.
+                Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
+
+        Returns:
+            dict: Evaluation results.
+        """
         # evaluate 3D detection performance
         if isinstance(results[0], dict):
             return super().evaluate(results, metric, iou_thr, logger, show,
-                                    out_dir)
+                                    out_dir, pipeline)
         # evaluate 2D detection performance
         else:
             eval_results = OrderedDict()

mmdet3d/datasets/utils.py

+# yapf: disable
 from mmdet3d.datasets.pipelines import (Collect3D, DefaultFormatBundle3D,
                                         LoadAnnotations3D,
+                                        LoadImageFromFileMono3D,
                                         LoadMultiViewImageFromFiles,
                                         LoadPointsFromFile,
-                                        LoadPointsFromMultiSweeps)
+                                        LoadPointsFromMultiSweeps,
+                                        MultiScaleFlipAug3D,
+                                        PointSegClassMapping)
+# yapf: enable
 from mmdet.datasets.builder import PIPELINES
 from mmdet.datasets.pipelines import LoadImageFromFile
 
 
+def is_loading_function(transform):
+    """Judge whether a transform function is a loading function.
+
+    Args:
+        transform (dict | :obj:`Pipeline`): A transform config or a function.
+
+    Returns:
+        bool | None: Whether it is a loading function. None means can't judge.
+            When transform is `MultiScaleFlipAug3D`, we return None.
+    """
+    # TODO: use more elegant way to distinguish loading modules
+    loading_functions = (LoadImageFromFile, LoadPointsFromFile,
+                         LoadAnnotations3D, LoadMultiViewImageFromFiles,
+                         LoadPointsFromMultiSweeps, DefaultFormatBundle3D,
+                         Collect3D, LoadImageFromFileMono3D,
+                         PointSegClassMapping)
+    if isinstance(transform, dict):
+        obj_cls = PIPELINES.get(transform['type'])
+        if obj_cls is None:
+            return False
+        if obj_cls in loading_functions:
+            return True
+        if obj_cls in (MultiScaleFlipAug3D):
+            return None
+    elif callable(transform):
+        if isinstance(transform, loading_functions):
+            return True
+        if isinstance(transform, MultiScaleFlipAug3D):
+            return None
+    return False
+
+
 def get_loading_pipeline(pipeline):
     """Only keep loading image, points and annotations related configuration.
 
     Args:
-        pipeline (list[dict]): Data pipeline configs.
+        pipeline (list[dict] | list[:obj:`Pipeline`]):
+            Data pipeline configs or list of pipeline functions.
 
     Returns:
-        list[dict]: The new pipeline list with only keep
-            loading image, points and annotations related configuration.
+        list[dict] | list[:obj:`Pipeline`]): The new pipeline list with only
+            keep loading image, points and annotations related configuration.
 
     Examples:
         >>> pipelines = [
@@ -51,16 +89,19 @@ def get_loading_pipeline(pipeline):
         >>> assert expected_pipelines ==\
         ...        get_loading_pipeline(pipelines)
     """
-    loading_pipeline_cfg = []
-    for cfg in pipeline:
-        obj_cls = PIPELINES.get(cfg['type'])
-        # TODO: use more elegant way to distinguish loading modules
-        if obj_cls is not None and obj_cls in (
-                LoadImageFromFile, LoadPointsFromFile, LoadAnnotations3D,
-                LoadMultiViewImageFromFiles, LoadPointsFromMultiSweeps,
-                DefaultFormatBundle3D, Collect3D):
-            loading_pipeline_cfg.append(cfg)
-    assert len(loading_pipeline_cfg) > 0, \
+    loading_pipeline = []
+    for transform in pipeline:
+        is_loading = is_loading_function(transform)
+        if is_loading is None:  # MultiScaleFlipAug3D
+            # extract its inner pipeline
+            if isinstance(transform, dict):
+                inner_pipeline = transform.get('transforms', [])
+            else:
+                inner_pipeline = transform.transforms.transforms
+            loading_pipeline.extend(get_loading_pipeline(inner_pipeline))
+        elif is_loading:
+            loading_pipeline.append(transform)
+    assert len(loading_pipeline) > 0, \
         'The data pipeline in your config file must include ' \
         'loading step.'
-    return loading_pipeline_cfg
+    return loading_pipeline

mmdet3d/datasets/waymo_dataset.py

@@ -219,7 +219,8 @@ class WaymoDataset(KittiDataset):
                  pklfile_prefix=None,
                  submission_prefix=None,
                  show=False,
-                 out_dir=None):
+                 out_dir=None,
+                 pipeline=None):
         """Evaluation in KITTI protocol.
 
         Args:
@@ -237,6 +238,8 @@ class WaymoDataset(KittiDataset):
                 Default: False.
             out_dir (str): Path to save the visualization results.
                 Default: None.
+            pipeline (list[dict], optional): raw data loading for showing.
+                Default: None.
 
         Returns:
             dict[str: float]: results of each evaluation metric
@@ -346,7 +349,7 @@ class WaymoDataset(KittiDataset):
             tmp_dir.cleanup()
 
         if show:
-            self.show(results, out_dir)
+            self.show(results, out_dir, pipeline=pipeline)
         return ap_dict
 
     def bbox2result_kitti(self,

tests/test_data/test_datasets/test_kitti_dataset.py

@@ -261,6 +261,30 @@ def test_show():
     mmcv.check_file_exist(pred_file_path)
     tmp_dir.cleanup()
 
+    # test show with pipeline
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='LIDAR',
+            load_dim=4,
+            use_dim=4),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=classes,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    kitti_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    pts_file_path = osp.join(temp_dir, '000000', '000000_points.obj')
+    gt_file_path = osp.join(temp_dir, '000000', '000000_gt.obj')
+    pred_file_path = osp.join(temp_dir, '000000', '000000_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()
+
     # test multi-modality show
     tmp_dir = tempfile.TemporaryDirectory()
     temp_dir = tmp_dir.name
@@ -283,6 +307,37 @@ def test_show():
     mmcv.check_file_exist(img_gt_file)
     tmp_dir.cleanup()
 
+    # test multi-modality show with pipeline
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='LIDAR',
+            load_dim=4,
+            use_dim=4),
+        dict(type='LoadImageFromFile'),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=classes,
+            with_label=False),
+        dict(type='Collect3D', keys=['points', 'img'])
+    ]
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    kitti_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    pts_file_path = osp.join(temp_dir, '000000', '000000_points.obj')
+    gt_file_path = osp.join(temp_dir, '000000', '000000_gt.obj')
+    pred_file_path = osp.join(temp_dir, '000000', '000000_pred.obj')
+    img_file_path = osp.join(temp_dir, '000000', '000000_img.png')
+    img_pred_path = osp.join(temp_dir, '000000', '000000_pred.png')
+    img_gt_file = osp.join(temp_dir, '000000', '000000_gt.png')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    mmcv.check_file_exist(img_file_path)
+    mmcv.check_file_exist(img_pred_path)
+    mmcv.check_file_exist(img_gt_file)
+    tmp_dir.cleanup()
+
 
 def test_format_results():
     from mmdet3d.core.bbox import LiDARInstance3DBoxes

tests/test_data/test_datasets/test_lyft_dataset.py

 import mmcv
 import numpy as np
+import tempfile
 import torch
 
 from mmdet3d.datasets import LyftDataset
@@ -114,3 +115,54 @@ def test_evaluate():
     ap_dict = lyft_dataset.evaluate(results, 'bbox')
     car_precision = ap_dict['pts_bbox_Lyft/car_AP']
     assert car_precision == 0.6
+
+
+def test_show():
+    import mmcv
+    from os import path as osp
+
+    from mmdet3d.core.bbox import LiDARInstance3DBoxes
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    root_path = './tests/data/lyft'
+    ann_file = './tests/data/lyft/lyft_infos.pkl'
+    class_names = ('car', 'truck', 'bus', 'emergency_vehicle', 'other_vehicle',
+                   'motorcycle', 'bicycle', 'pedestrian', 'animal')
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='LIDAR',
+            load_dim=5,
+            use_dim=5,
+            file_client_args=dict(backend='disk')),
+        dict(
+            type='LoadPointsFromMultiSweeps',
+            sweeps_num=10,
+            file_client_args=dict(backend='disk')),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    kitti_dataset = LyftDataset(ann_file, None, root_path)
+    boxes_3d = LiDARInstance3DBoxes(
+        torch.tensor(
+            [[46.1218, -4.6496, -0.9275, 0.5316, 1.4442, 1.7450, 1.1749],
+             [33.3189, 0.1981, 0.3136, 0.5656, 1.2301, 1.7985, 1.5723],
+             [46.1366, -4.6404, -0.9510, 0.5162, 1.6501, 1.7540, 1.3778],
+             [33.2646, 0.2297, 0.3446, 0.5746, 1.3365, 1.7947, 1.5430],
+             [58.9079, 16.6272, -1.5829, 1.5656, 3.9313, 1.4899, 1.5505]]))
+    scores_3d = torch.tensor([0.1815, 0.1663, 0.5792, 0.2194, 0.2780])
+    labels_3d = torch.tensor([0, 0, 1, 1, 2])
+    result = dict(boxes_3d=boxes_3d, scores_3d=scores_3d, labels_3d=labels_3d)
+    results = [dict(pts_bbox=result)]
+    kitti_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    file_name = 'host-a017_lidar1_1236118886901125926'
+    pts_file_path = osp.join(temp_dir, file_name, f'{file_name}_points.obj')
+    gt_file_path = osp.join(temp_dir, file_name, f'{file_name}_gt.obj')
+    pred_file_path = osp.join(temp_dir, file_name, f'{file_name}_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()

tests/test_data/test_datasets/test_nuscene_dataset.py

 import numpy as np
+import tempfile
+import torch
 
 from mmdet3d.datasets import NuScenesDataset
 
@@ -59,3 +61,55 @@ def test_getitem():
     assert data['img_metas'][0].data['flip'] is False
     assert data['img_metas'][0].data['pcd_horizontal_flip'] is False
     assert data['points'][0]._data.shape == (597, 4)
+
+
+def test_show():
+    import mmcv
+    from os import path as osp
+
+    from mmdet3d.core.bbox import LiDARInstance3DBoxes
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    class_names = [
+        'car', 'truck', 'trailer', 'bus', 'construction_vehicle', 'bicycle',
+        'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'
+    ]
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='LIDAR',
+            load_dim=5,
+            use_dim=5,
+            file_client_args=dict(backend='disk')),
+        dict(
+            type='LoadPointsFromMultiSweeps',
+            sweeps_num=10,
+            file_client_args=dict(backend='disk')),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    nus_dataset = NuScenesDataset('tests/data/nuscenes/nus_info.pkl', None,
+                                  'tests/data/nuscenes')
+    boxes_3d = LiDARInstance3DBoxes(
+        torch.tensor(
+            [[46.1218, -4.6496, -0.9275, 0.5316, 1.4442, 1.7450, 1.1749],
+             [33.3189, 0.1981, 0.3136, 0.5656, 1.2301, 1.7985, 1.5723],
+             [46.1366, -4.6404, -0.9510, 0.5162, 1.6501, 1.7540, 1.3778],
+             [33.2646, 0.2297, 0.3446, 0.5746, 1.3365, 1.7947, 1.5430],
+             [58.9079, 16.6272, -1.5829, 1.5656, 3.9313, 1.4899, 1.5505]]))
+    scores_3d = torch.tensor([0.1815, 0.1663, 0.5792, 0.2194, 0.2780])
+    labels_3d = torch.tensor([0, 0, 1, 1, 2])
+    result = dict(boxes_3d=boxes_3d, scores_3d=scores_3d, labels_3d=labels_3d)
+    results = [dict(pts_bbox=result)]
+    nus_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    file_name = 'n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470948018'
+    pts_file_path = osp.join(temp_dir, file_name, f'{file_name}_points.obj')
+    gt_file_path = osp.join(temp_dir, file_name, f'{file_name}_gt.obj')
+    pred_file_path = osp.join(temp_dir, file_name, f'{file_name}_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()

tests/test_data/test_datasets/test_scannet_dataset.py

@@ -214,6 +214,37 @@ def test_show():
     mmcv.check_file_exist(pred_file_path)
     tmp_dir.cleanup()
 
+    # show function with pipeline
+    class_names = ('cabinet', 'bed', 'chair', 'sofa', 'table', 'door',
+                   'window', 'bookshelf', 'picture', 'counter', 'desk',
+                   'curtain', 'refrigerator', 'showercurtrain', 'toilet',
+                   'sink', 'bathtub', 'garbagebin')
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='DEPTH',
+            shift_height=False,
+            load_dim=6,
+            use_dim=[0, 1, 2]),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    scannet_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    pts_file_path = osp.join(temp_dir, 'scene0000_00',
+                             'scene0000_00_points.obj')
+    gt_file_path = osp.join(temp_dir, 'scene0000_00', 'scene0000_00_gt.obj')
+    pred_file_path = osp.join(temp_dir, 'scene0000_00',
+                              'scene0000_00_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()
+
 
 def test_seg_getitem():
     np.random.seed(0)
@@ -489,7 +520,33 @@ def test_seg_evaluate():
             13, 2, 3, 1, 0, 13, 19, 1, 14, 5, 3, 1, 13, 1, 2, 3, 2, 1
         ]).long())
     results.append(pred_sem_mask)
-    ret_dict = scannet_dataset.evaluate(results)
+
+    class_names = ('wall', 'floor', 'cabinet', 'bed', 'chair', 'sofa', 'table',
+                   'door', 'window', 'bookshelf', 'picture', 'counter', 'desk',
+                   'curtain', 'refrigerator', 'showercurtrain', 'toilet',
+                   'sink', 'bathtub', 'otherfurniture')
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='DEPTH',
+            shift_height=False,
+            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='PointSegClassMapping',
+            valid_cat_ids=(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24,
+                           28, 33, 34, 36, 39)),
+        dict(type='DefaultFormatBundle3D', class_names=class_names),
+        dict(type='Collect3D', keys=['points', 'pts_semantic_mask'])
+    ]
+    ret_dict = scannet_dataset.evaluate(results, pipeline=eval_pipeline)
     assert abs(ret_dict['miou'] - 0.5308) < 0.01
     assert abs(ret_dict['acc'] - 0.8219) < 0.01
     assert abs(ret_dict['acc_cls'] - 0.7649) < 0.01
@@ -525,6 +582,44 @@ def test_seg_show():
     mmcv.check_file_exist(gt_file_path)
     mmcv.check_file_exist(pred_file_path)
     tmp_dir.cleanup()
+    # test show with pipeline
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    class_names = ('wall', 'floor', 'cabinet', 'bed', 'chair', 'sofa', 'table',
+                   'door', 'window', 'bookshelf', 'picture', 'counter', 'desk',
+                   'curtain', 'refrigerator', 'showercurtrain', 'toilet',
+                   'sink', 'bathtub', 'otherfurniture')
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='DEPTH',
+            shift_height=False,
+            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='PointSegClassMapping',
+            valid_cat_ids=(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24,
+                           28, 33, 34, 36, 39)),
+        dict(type='DefaultFormatBundle3D', class_names=class_names),
+        dict(type='Collect3D', keys=['points', 'pts_semantic_mask'])
+    ]
+    scannet_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    pts_file_path = osp.join(temp_dir, 'scene0000_00',
+                             'scene0000_00_points.obj')
+    gt_file_path = osp.join(temp_dir, 'scene0000_00', 'scene0000_00_gt.obj')
+    pred_file_path = osp.join(temp_dir, 'scene0000_00',
+                              'scene0000_00_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()
 
 
 def test_seg_format_results():
@@ -557,4 +652,3 @@ def test_seg_format_results():
     expected_txt_path = osp.join(tmp_dir.name, 'results', 'scene0000_00.txt')
     assert np.all(result_files[0]['seg_mask'] == expected_label)
     mmcv.check_file_exist(expected_txt_path)
-    tmp_dir.cleanup()

tests/test_data/test_datasets/test_sunrgbd_dataset.py

@@ -210,7 +210,7 @@ def test_show():
     from mmdet3d.core.bbox import DepthInstance3DBoxes
     tmp_dir = tempfile.TemporaryDirectory()
     temp_dir = tmp_dir.name
-    root_path, ann_file, _, pipelines, modality = \
+    root_path, ann_file, class_names, pipelines, modality = \
         _generate_sunrgbd_dataset_config()
     sunrgbd_dataset = SUNRGBDDataset(
         root_path, ann_file, pipelines, modality=modality)
@@ -235,14 +235,71 @@ def test_show():
     mmcv.check_file_exist(pred_file_path)
     tmp_dir.cleanup()
 
+    # test show with pipeline
+    eval_pipeline = [
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='DEPTH',
+            shift_height=True,
+            load_dim=6,
+            use_dim=[0, 1, 2]),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    sunrgbd_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
+    pts_file_path = osp.join(temp_dir, '000001', '000001_points.obj')
+    gt_file_path = osp.join(temp_dir, '000001', '000001_gt.obj')
+    pred_file_path = osp.join(temp_dir, '000001', '000001_pred.obj')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    tmp_dir.cleanup()
+
     # test multi-modality show
     tmp_dir = tempfile.TemporaryDirectory()
     temp_dir = tmp_dir.name
-    root_path, ann_file, _, multi_modality_pipelines, modality = \
+    root_path, ann_file, class_names, multi_modality_pipelines, modality = \
         _generate_sunrgbd_multi_modality_dataset_config()
     sunrgbd_dataset = SUNRGBDDataset(
         root_path, ann_file, multi_modality_pipelines, modality=modality)
-    sunrgbd_dataset.show(results, temp_dir, show=False)
+    sunrgbd_dataset.show(results, temp_dir, False, multi_modality_pipelines)
+    pts_file_path = osp.join(temp_dir, '000001', '000001_points.obj')
+    gt_file_path = osp.join(temp_dir, '000001', '000001_gt.obj')
+    pred_file_path = osp.join(temp_dir, '000001', '000001_pred.obj')
+    img_file_path = osp.join(temp_dir, '000001', '000001_img.png')
+    img_pred_path = osp.join(temp_dir, '000001', '000001_pred.png')
+    img_gt_file = osp.join(temp_dir, '000001', '000001_gt.png')
+    mmcv.check_file_exist(pts_file_path)
+    mmcv.check_file_exist(gt_file_path)
+    mmcv.check_file_exist(pred_file_path)
+    mmcv.check_file_exist(img_file_path)
+    mmcv.check_file_exist(img_pred_path)
+    mmcv.check_file_exist(img_gt_file)
+    tmp_dir.cleanup()
+
+    # test multi-modality show with pipeline
+    eval_pipeline = [
+        dict(type='LoadImageFromFile'),
+        dict(
+            type='LoadPointsFromFile',
+            coord_type='DEPTH',
+            shift_height=True,
+            load_dim=6,
+            use_dim=[0, 1, 2]),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points', 'img', 'calib'])
+    ]
+    tmp_dir = tempfile.TemporaryDirectory()
+    temp_dir = tmp_dir.name
+    sunrgbd_dataset.show(results, temp_dir, show=False, pipeline=eval_pipeline)
     pts_file_path = osp.join(temp_dir, '000001', '000001_points.obj')
     gt_file_path = osp.join(temp_dir, '000001', '000001_gt.obj')
     pred_file_path = osp.join(temp_dir, '000001', '000001_pred.obj')

tools/misc/visualize_results.py

@@ -32,7 +32,12 @@ def main():
     results = mmcv.load(args.result)
 
     if getattr(dataset, 'show', None) is not None:
-        dataset.show(results, args.show_dir)
+        # data loading pipeline for showing
+        eval_pipeline = cfg.get('eval_pipeline', {})
+        if eval_pipeline:
+            dataset.show(results, args.show_dir, pipeline=eval_pipeline)
+        else:
+            dataset.show(results, args.show_dir)  # use default pipeline
     else:
         raise NotImplementedError(
             'Show is not implemented for dataset {}!'.format(