fix some bugs and extra key

mmdet3d/datasets/pipelines/indoor_loading.py

@@ -37,7 +37,8 @@ class LoadPointsFromFile(object):
         else:
             points = np.load(pts_filename)['pc']
         points = points.reshape(-1, self.load_dim)
-        points[:, 3:6] = points[:, 3:6] - np.array(self.color_mean) / 256.0
+        if self.load_dim >= 6:
+            points[:, 3:6] = points[:, 3:6] - np.array(self.color_mean) / 256.0
         points = points[:, self.use_dim]
 
         if self.use_height:
@@ -78,9 +79,8 @@ class LoadAnnotations3D(object):
             gt_bboxes_3d = np.zeros((1, 6), dtype=np.float32)
             gt_labels = 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':
+        if ins_labelname is not None and sem_labelname is not None:
             assert osp.exists(ins_labelname)
             assert osp.exists(sem_labelname)
             pts_instance_mask = np.load(ins_labelname)

tests/test_indoor_loading.py

@@ -12,7 +12,6 @@ def test_load_points_from_file():
                                                        6)
     sunrgbd_results = dict()
     data_path = './tests/data/sunrgbd/sunrgbd_trainval'
-    sunrgbd_results['data_path'] = data_path
     sunrgbd_info = sunrgbd_info[0]
     scan_name = sunrgbd_info['point_cloud']['lidar_idx']
     sunrgbd_results['info'] = sunrgbd_info
@@ -41,7 +40,6 @@ def test_load_annotations3D():
     sunrgbd_info = mmcv.load('./tests/data/sunrgbd/sunrgbd_infos.pkl')
     sunrgbd_load_annotations3D = LoadAnnotations3D()
     sunrgbd_results = dict()
-    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_bboxes_3d', None)
@@ -55,7 +53,6 @@ def test_load_annotations3D():
     scannet_load_annotations3D = LoadAnnotations3D()
     scannet_results = dict()
     data_path = './tests/data/scannet/scannet_train_instance_data'
-    scannet_results['data_path'] = data_path
     scannet_info = scannet_info[0]
     scan_name = scannet_info['point_cloud']['lidar_idx']
     scannet_results['ins_labelname'] = osp.join(data_path,