change some keys according API doc

mmdet3d/datasets/pipelines/indoor_loading.py

@@ -28,32 +28,30 @@ class LoadPointsFromFile(object):
         info = results.get('info', None)
         name = 'scannet' if info.get('image', None) is None else 'sunrgbd'
         if name == 'scannet':
-            scan_name = info['point_cloud']['lidar_idx']
-            point_cloud = self._get_lidar(scan_name, data_path)
+            pts_filename = info['point_cloud']['lidar_idx']
+            points = self._get_lidar(pts_filename, data_path)
         else:
-            point_cloud = np.load(
+            points = np.load(
                 osp.join(data_path, 'lidar',
                          '%06d.npz' % info['point_cloud']['lidar_idx']))['pc']
 
         if not self.use_color:
             if name == 'scannet':
-                pcl_color = point_cloud[:, 3:6]
-            point_cloud = point_cloud[:, 0:3]
+                pts_color = points[:, 3:6]
+            points = points[:, 0:3]
         else:
             if name == 'scannet':
-                pcl_color = point_cloud[:, 3:6]
-            point_cloud = point_cloud[:, 0:6]
-            point_cloud[:, 3:] = (point_cloud[:, 3:] -
-                                  np.array(self.color_mean)) / 256.0
+                pts_color = points[:, 3:6]
+            points = points[:, 0:6]
+            points[:, 3:] = (points[:, 3:] - np.array(self.color_mean)) / 256.0
 
         if self.use_height:
-            floor_height = np.percentile(point_cloud[:, 2], 0.99)
-            height = point_cloud[:, 2] - floor_height
-            point_cloud = np.concatenate(
-                [point_cloud, np.expand_dims(height, 1)], 1)
-        results['point_cloud'] = point_cloud
+            floor_height = np.percentile(points[:, 2], 0.99)
+            height = points[:, 2] - floor_height
+            points = np.concatenate([points, np.expand_dims(height, 1)], 1)
+        results['points'] = points
         if name == 'scannet':
-            results['pcl_color'] = pcl_color
+            results['pts_color'] = pts_color
         return results
 
     def __repr__(self):
@@ -86,13 +84,13 @@ class LoadAnnotations3D(object):
         data_path = results.get('data_path', None)
         info = results.get('info', None)
         if info['annos']['gt_num'] != 0:
-            gt_boxes = info['annos']['gt_boxes_upright_depth']
+            gt_bboxes_3d = info['annos']['gt_boxes_upright_depth']
             gt_classes = info['annos']['class'].reshape(-1, 1)
-            gt_boxes_mask = np.ones_like(gt_classes)
+            gt_bboxes_3d_mask = np.ones_like(gt_classes)
         else:
-            gt_boxes = np.zeros((1, 6), dtype=np.float32)
+            gt_bboxes_3d = np.zeros((1, 6), dtype=np.float32)
             gt_classes = np.zeros((1, 1))
-            gt_boxes_mask = np.zeros((1, 1))
+            gt_bboxes_3d_mask = np.zeros((1, 1))
         name = 'scannet' if info.get('image', None) is None else 'sunrgbd'
 
         if name == 'scannet':
@@ -102,9 +100,9 @@ class LoadAnnotations3D(object):
             results['instance_labels'] = instance_labels
             results['semantic_labels'] = semantic_labels
 
-        results['gt_boxes'] = gt_boxes
+        results['gt_bboxes_3d'] = gt_bboxes_3d
         results['gt_classes'] = gt_classes
-        results['gt_boxes_mask'] = gt_boxes_mask
+        results['gt_bboxes_3d_mask'] = gt_bboxes_3d_mask
         return results
 
     def __repr__(self):

tests/test_indoor_loading.py

@@ -12,7 +12,7 @@ def test_load_points_from_file():
     sunrgbd_results['data_path'] = './tests/data/sunrgbd/sunrgbd_trainval'
     sunrgbd_results['info'] = sunrgbd_info[0]
     sunrgbd_results = sunrgbd_load_points_from_file(sunrgbd_results)
-    sunrgbd_point_cloud = sunrgbd_results.get('point_cloud', None)
+    sunrgbd_point_cloud = sunrgbd_results.get('points', None)
     assert sunrgbd_point_cloud.shape == (1000, 4)
 
     scannet_info = mmcv.load('./tests/data/scannet/scannet_infos.pkl')
@@ -22,8 +22,8 @@ def test_load_points_from_file():
         'data_path'] = './tests/data/scannet/scannet_train_instance_data'
     scannet_results['info'] = scannet_info[0]
     scannet_results = scannet_load_data(scannet_results)
-    scannet_point_cloud = scannet_results.get('point_cloud', None)
-    scannet_pcl_color = scannet_results.get('pcl_color', None)
+    scannet_point_cloud = scannet_results.get('points', None)
+    scannet_pcl_color = scannet_results.get('pts_color', None)
     assert scannet_point_cloud.shape == (1000, 4)
     assert scannet_pcl_color.shape == (1000, 3)
 
@@ -35,9 +35,9 @@ def test_load_annotations3D():
     sunrgbd_results['data_path'] = './tests/data/sunrgbd/sunrgbd_trainval'
     sunrgbd_results['info'] = sunrgbd_info[0]
     sunrgbd_results = sunrgbd_load_annotations3D(sunrgbd_results)
-    sunrgbd_gt_boxes = sunrgbd_results.get('gt_boxes', None)
+    sunrgbd_gt_boxes = sunrgbd_results.get('gt_bboxes_3d', None)
     sunrgbd_gt_classes = sunrgbd_results.get('gt_classes', None)
-    sunrgbd_gt_boxes_mask = sunrgbd_results.get('gt_boxes_mask', None)
+    sunrgbd_gt_boxes_mask = sunrgbd_results.get('gt_bboxes_3d_mask', None)
     assert sunrgbd_gt_boxes.shape == (3, 7)
     assert sunrgbd_gt_classes.shape == (3, 1)
     assert sunrgbd_gt_boxes_mask.shape == (3, 1)
@@ -49,9 +49,9 @@ def test_load_annotations3D():
         'data_path'] = './tests/data/scannet/scannet_train_instance_data'
     scannet_results['info'] = scannet_info[0]
     scannet_results = scannet_load_annotations3D(scannet_results)
-    scannet_gt_boxes = scannet_results.get('gt_boxes', None)
+    scannet_gt_boxes = scannet_results.get('gt_bboxes_3d', None)
     scannet_gt_classes = scannet_results.get('gt_classes', None)
-    scannet_gt_boxes_mask = scannet_results.get('gt_boxes_mask', None)
+    scannet_gt_boxes_mask = scannet_results.get('gt_bboxes_3d_mask', None)
     scannet_instance_labels = scannet_results.get('instance_labels', None)
     scannet_semantic_labels = scannet_results.get('semantic_labels', None)
     assert scannet_gt_boxes.shape == (27, 6)