[Enhance] Move ScanNet point alignment from data pre-processing to pipeline (#439)

configs/_base_/datasets/scannet-3d-18class.py

@@ -18,6 +18,7 @@ train_pipeline = [
         with_label_3d=True,
         with_mask_3d=True,
         with_seg_3d=True),
+    dict(type='GlobalAlignment', rotation_axis=2),
     dict(
         type='PointSegClassMapping',
         valid_cat_ids=(3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33, 34,
@@ -49,6 +50,7 @@ test_pipeline = [
         shift_height=True,
         load_dim=6,
         use_dim=[0, 1, 2]),
+    dict(type='GlobalAlignment', rotation_axis=2),
     dict(
         type='MultiScaleFlipAug3D',
         img_scale=(1333, 800),
@@ -82,6 +84,7 @@ eval_pipeline = [
         shift_height=False,
         load_dim=6,
         use_dim=[0, 1, 2]),
+    dict(type='GlobalAlignment', rotation_axis=2),
     dict(
         type='DefaultFormatBundle3D',
         class_names=class_names,

data/scannet/batch_load_scannet_data.py

@@ -34,9 +34,10 @@ def export_one_scan(scan_name,
                         scan_name + '_vh_clean_2.0.010000.segs.json')
     # includes axisAlignment info for the train set scans.
     meta_file = osp.join(scannet_dir, scan_name, f'{scan_name}.txt')
-    mesh_vertices, semantic_labels, instance_labels, instance_bboxes, \
-        instance2semantic = export(mesh_file, agg_file, seg_file,
-                                   meta_file, label_map_file, None, test_mode)
+    mesh_vertices, semantic_labels, instance_labels, unaligned_bboxes, \
+        aligned_bboxes, instance2semantic, axis_align_matrix = export(
+            mesh_file, agg_file, seg_file, meta_file, label_map_file, None,
+            test_mode)
 
     if not test_mode:
         mask = np.logical_not(np.in1d(semantic_labels, DONOTCARE_CLASS_IDS))
@@ -47,9 +48,12 @@ def export_one_scan(scan_name,
         num_instances = len(np.unique(instance_labels))
         print(f'Num of instances: {num_instances}')
 
-        bbox_mask = np.in1d(instance_bboxes[:, -1], OBJ_CLASS_IDS)
-        instance_bboxes = instance_bboxes[bbox_mask, :]
-        print(f'Num of care instances: {instance_bboxes.shape[0]}')
+        bbox_mask = np.in1d(unaligned_bboxes[:, -1], OBJ_CLASS_IDS)
+        unaligned_bboxes = unaligned_bboxes[bbox_mask, :]
+        bbox_mask = np.in1d(aligned_bboxes[:, -1], OBJ_CLASS_IDS)
+        aligned_bboxes = aligned_bboxes[bbox_mask, :]
+        assert unaligned_bboxes.shape[0] == aligned_bboxes.shape[0]
+        print(f'Num of care instances: {unaligned_bboxes.shape[0]}')
 
     if max_num_point is not None:
         max_num_point = int(max_num_point)
@@ -65,7 +69,11 @@ def export_one_scan(scan_name,
     if not test_mode:
         np.save(f'{output_filename_prefix}_sem_label.npy', semantic_labels)
         np.save(f'{output_filename_prefix}_ins_label.npy', instance_labels)
-        np.save(f'{output_filename_prefix}_bbox.npy', instance_bboxes)
+        np.save(f'{output_filename_prefix}_unaligned_bbox.npy',
+                unaligned_bboxes)
+        np.save(f'{output_filename_prefix}_aligned_bbox.npy', aligned_bboxes)
+        np.save(f'{output_filename_prefix}_axis_align_matrix.npy',
+                axis_align_matrix)
 
 
 def batch_export(max_num_point,

data/scannet/load_scannet_data.py

@@ -52,6 +52,24 @@ def read_segmentation(filename):
     return seg_to_verts, num_verts
 
 
+def extract_bbox(mesh_vertices, object_id_to_segs, object_id_to_label_id,
+                 instance_ids):
+    num_instances = len(np.unique(list(object_id_to_segs.keys())))
+    instance_bboxes = np.zeros((num_instances, 7))
+    for obj_id in object_id_to_segs:
+        label_id = object_id_to_label_id[obj_id]
+        obj_pc = mesh_vertices[instance_ids == obj_id, 0:3]
+        if len(obj_pc) == 0:
+            continue
+        xyz_min = np.min(obj_pc, axis=0)
+        xyz_max = np.max(obj_pc, axis=0)
+        bbox = np.concatenate([(xyz_min + xyz_max) / 2.0, xyz_max - xyz_min,
+                               np.array([label_id])])
+        # NOTE: this assumes obj_id is in 1,2,3,.,,,.NUM_INSTANCES
+        instance_bboxes[obj_id - 1, :] = bbox
+    return instance_bboxes
+
+
 def export(mesh_file,
            agg_file,
            seg_file,
@@ -69,7 +87,7 @@ def export(mesh_file,
         label_map_file (str): Path of the label_map_file.
         output_file (str): Path of the output folder.
             Default: None.
-        test_mode (bool): Whether is generating training data without labels.
+        test_mode (bool): Whether is generating test data without labels.
             Default: False.
 
     It returns a tuple, which containts the the following things:
@@ -86,8 +104,7 @@ def export(mesh_file,
 
     # Load scene axis alignment matrix
     lines = open(meta_file).readlines()
-    # TODO: test set data doesn't have align_matrix!
-    # TODO: save align_matrix and move align step to pipeline in the future
+    # test set data doesn't have align_matrix
     axis_align_matrix = np.eye(4)
     for line in lines:
         if 'axisAlignment' in line:
@@ -97,10 +114,13 @@ def export(mesh_file,
             ]
             break
     axis_align_matrix = np.array(axis_align_matrix).reshape((4, 4))
+
+    # perform global alignment of mesh vertices
     pts = np.ones((mesh_vertices.shape[0], 4))
     pts[:, 0:3] = mesh_vertices[:, 0:3]
     pts = np.dot(pts, axis_align_matrix.transpose())  # Nx4
-    mesh_vertices[:, 0:3] = pts[:, 0:3]
+    aligned_mesh_vertices = np.concatenate([pts[:, 0:3], mesh_vertices[:, 3:]],
+                                           axis=1)
 
     # Load semantic and instance labels
     if not test_mode:
@@ -115,34 +135,21 @@ def export(mesh_file,
                 label_ids[verts] = label_id
         instance_ids = np.zeros(
             shape=(num_verts), dtype=np.uint32)  # 0: unannotated
-        num_instances = len(np.unique(list(object_id_to_segs.keys())))
         for object_id, segs in object_id_to_segs.items():
             for seg in segs:
                 verts = seg_to_verts[seg]
                 instance_ids[verts] = object_id
                 if object_id not in object_id_to_label_id:
                     object_id_to_label_id[object_id] = label_ids[verts][0]
-        instance_bboxes = np.zeros((num_instances, 7))
-        for obj_id in object_id_to_segs:
-            label_id = object_id_to_label_id[obj_id]
-            obj_pc = mesh_vertices[instance_ids == obj_id, 0:3]
-            if len(obj_pc) == 0:
-                continue
-            xmin = np.min(obj_pc[:, 0])
-            ymin = np.min(obj_pc[:, 1])
-            zmin = np.min(obj_pc[:, 2])
-            xmax = np.max(obj_pc[:, 0])
-            ymax = np.max(obj_pc[:, 1])
-            zmax = np.max(obj_pc[:, 2])
-            bbox = np.array([(xmin + xmax) / 2, (ymin + ymax) / 2,
-                             (zmin + zmax) / 2, xmax - xmin, ymax - ymin,
-                             zmax - zmin, label_id])
-            # NOTE: this assumes obj_id is in 1,2,3,.,,,.NUM_INSTANCES
-            instance_bboxes[obj_id - 1, :] = bbox
+        unaligned_bboxes = extract_bbox(mesh_vertices, object_id_to_segs,
+                                        object_id_to_label_id, instance_ids)
+        aligned_bboxes = extract_bbox(aligned_mesh_vertices, object_id_to_segs,
+                                      object_id_to_label_id, instance_ids)
     else:
         label_ids = None
         instance_ids = None
-        instance_bboxes = None
+        unaligned_bboxes = None
+        aligned_bboxes = None
         object_id_to_label_id = None
 
     if output_file is not None:
@@ -150,10 +157,12 @@ def export(mesh_file,
         if not test_mode:
             np.save(output_file + '_sem_label.npy', label_ids)
             np.save(output_file + '_ins_label.npy', instance_ids)
-            np.save(output_file + '_bbox.npy', instance_bboxes)
+            np.save(output_file + '_unaligned_bbox.npy', unaligned_bboxes)
+            np.save(output_file + '_aligned_bbox.npy', aligned_bboxes)
+            np.save(output_file + '_axis_align_matrix.npy', axis_align_matrix)
 
-    return mesh_vertices, label_ids, instance_ids, \
-        instance_bboxes, object_id_to_label_id
+    return mesh_vertices, label_ids, instance_ids, unaligned_bboxes, \
+        aligned_bboxes, object_id_to_label_id, axis_align_matrix
 
 
 def main():

mmdet3d/core/bbox/structures/base_box3d.py

@@ -129,12 +129,15 @@ class BaseInstance3DBoxes(object):
         pass
 
     @abstractmethod
-    def rotate(self, angles, axis=0):
-        """Calculate whether the points are in any of the boxes.
+    def rotate(self, angle, points=None):
+        """Rotate boxes with points (optional) with the given angle or \
+        rotation matrix.
 
         Args:
-            angles (float): Rotation angles.
-            axis (int): The axis to rotate the boxes.
+            angle (float | torch.Tensor | np.ndarray):
+                Rotation angle or rotation matrix.
+            points (torch.Tensor, numpy.ndarray, :obj:`BasePoints`, optional):
+                Points to rotate. Defaults to None.
         """
         pass
 
@@ -144,7 +147,7 @@ class BaseInstance3DBoxes(object):
         pass
 
     def translate(self, trans_vector):
-        """Calculate whether the points are in any of the boxes.
+        """Translate boxes with the given translation vector.
 
         Args:
             trans_vector (torch.Tensor): Translation vector of size 1x3.

mmdet3d/core/bbox/structures/cam_box3d.py

@@ -169,10 +169,12 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
         return bev_boxes
 
     def rotate(self, angle, points=None):
-        """Rotate boxes with points (optional) with the given angle.
+        """Rotate boxes with points (optional) with the given angle or \
+        rotation matrix.
 
         Args:
-            angle (float, torch.Tensor): Rotation angle.
+            angle (float | torch.Tensor | np.ndarray):
+                Rotation angle or rotation matrix.
             points (torch.Tensor, numpy.ndarray, :obj:`BasePoints`, optional):
                 Points to rotate. Defaults to None.
 
@@ -183,10 +185,20 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
         """
         if not isinstance(angle, torch.Tensor):
             angle = self.tensor.new_tensor(angle)
-        rot_sin = torch.sin(angle)
-        rot_cos = torch.cos(angle)
-        rot_mat_T = self.tensor.new_tensor([[rot_cos, 0, -rot_sin], [0, 1, 0],
-                                            [rot_sin, 0, rot_cos]])
+        assert angle.shape == torch.Size([3, 3]) or angle.numel() == 1, \
+            f'invalid rotation angle shape {angle.shape}'
+
+        if angle.numel() == 1:
+            rot_sin = torch.sin(angle)
+            rot_cos = torch.cos(angle)
+            rot_mat_T = self.tensor.new_tensor([[rot_cos, 0, -rot_sin],
+                                                [0, 1, 0],
+                                                [rot_sin, 0, rot_cos]])
+        else:
+            rot_mat_T = angle
+            rot_sin = rot_mat_T[2, 0]
+            rot_cos = rot_mat_T[0, 0]
+            angle = np.arctan2(rot_sin, rot_cos)
 
         self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T
         self.tensor[:, 6] += angle

mmdet3d/core/bbox/structures/depth_box3d.py

@@ -116,10 +116,12 @@ class DepthInstance3DBoxes(BaseInstance3DBoxes):
         return bev_boxes
 
     def rotate(self, angle, points=None):
-        """Rotate boxes with points (optional) with the given angle.
+        """Rotate boxes with points (optional) with the given angle or \
+        rotation matrix.
 
         Args:
-            angle (float, torch.Tensor): Rotation angle.
+            angle (float | torch.Tensor | np.ndarray):
+                Rotation angle or rotation matrix.
             points (torch.Tensor, numpy.ndarray, :obj:`BasePoints`, optional):
                 Points to rotate. Defaults to None.
 
@@ -130,11 +132,21 @@ class DepthInstance3DBoxes(BaseInstance3DBoxes):
         """
         if not isinstance(angle, torch.Tensor):
             angle = self.tensor.new_tensor(angle)
-        rot_sin = torch.sin(angle)
-        rot_cos = torch.cos(angle)
-        rot_mat_T = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
-                                            [rot_sin, rot_cos, 0], [0, 0,
-                                                                    1]]).T
+        assert angle.shape == torch.Size([3, 3]) or angle.numel() == 1, \
+            f'invalid rotation angle shape {angle.shape}'
+
+        if angle.numel() == 1:
+            rot_sin = torch.sin(angle)
+            rot_cos = torch.cos(angle)
+            rot_mat_T = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
+                                                [rot_sin, rot_cos, 0],
+                                                [0, 0, 1]]).T
+        else:
+            rot_mat_T = angle.T
+            rot_sin = rot_mat_T[0, 1]
+            rot_cos = rot_mat_T[0, 0]
+            angle = np.arctan2(rot_sin, rot_cos)
+
         self.tensor[:, 0:3] = self.tensor[:, 0:3] @ rot_mat_T
         if self.with_yaw:
             self.tensor[:, 6] -= angle

mmdet3d/core/bbox/structures/lidar_box3d.py

@@ -114,10 +114,12 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
         return bev_boxes
 
     def rotate(self, angle, points=None):
-        """Rotate boxes with points (optional) with the given angle.
+        """Rotate boxes with points (optional) with the given angle or \
+        rotation matrix.
 
         Args:
-            angle (float | torch.Tensor): Rotation angle.
+            angles (float | torch.Tensor | np.ndarray):
+                Rotation angle or rotation matrix.
             points (torch.Tensor, numpy.ndarray, :obj:`BasePoints`, optional):
                 Points to rotate. Defaults to None.
 
@@ -128,10 +130,20 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
         """
         if not isinstance(angle, torch.Tensor):
             angle = self.tensor.new_tensor(angle)
-        rot_sin = torch.sin(angle)
-        rot_cos = torch.cos(angle)
-        rot_mat_T = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
-                                            [rot_sin, rot_cos, 0], [0, 0, 1]])
+        assert angle.shape == torch.Size([3, 3]) or angle.numel() == 1, \
+            f'invalid rotation angle shape {angle.shape}'
+
+        if angle.numel() == 1:
+            rot_sin = torch.sin(angle)
+            rot_cos = torch.cos(angle)
+            rot_mat_T = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
+                                                [rot_sin, rot_cos, 0],
+                                                [0, 0, 1]])
+        else:
+            rot_mat_T = angle
+            rot_sin = rot_mat_T[1, 0]
+            rot_cos = rot_mat_T[0, 0]
+            angle = np.arctan2(rot_sin, rot_cos)
 
         self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T
         self.tensor[:, 6] += angle

mmdet3d/core/points/base_points.py

@@ -147,7 +147,7 @@ class BasePoints(object):
         if not isinstance(rotation, torch.Tensor):
             rotation = self.tensor.new_tensor(rotation)
         assert rotation.shape == torch.Size([3, 3]) or \
-            rotation.numel() == 1
+            rotation.numel() == 1, f'invalid rotation shape {rotation.shape}'
 
         if axis is None:
             axis = self.rotation_axis

mmdet3d/datasets/__init__.py

@@ -7,7 +7,8 @@ from .kitti_mono_dataset import KittiMonoDataset
 from .lyft_dataset import LyftDataset
 from .nuscenes_dataset import NuScenesDataset
 from .nuscenes_mono_dataset import NuScenesMonoDataset
-from .pipelines import (BackgroundPointsFilter, GlobalRotScaleTrans,
+from .pipelines import (BackgroundPointsFilter, GlobalAlignment,
+                        GlobalRotScaleTrans, IndoorPatchPointSample,
                         IndoorPointSample, LoadAnnotations3D,
                         LoadPointsFromFile, LoadPointsFromMultiSweeps,
                         NormalizePointsColor, ObjectNoise, ObjectRangeFilter,
@@ -26,10 +27,10 @@ __all__ = [
     'DATASETS', 'build_dataset', 'CocoDataset', 'NuScenesDataset',
     'NuScenesMonoDataset', 'LyftDataset', 'ObjectSample', 'RandomFlip3D',
     'ObjectNoise', 'GlobalRotScaleTrans', 'PointShuffle', 'ObjectRangeFilter',
-    'PointsRangeFilter', 'Collect3D', 'LoadPointsFromFile',
-    'NormalizePointsColor', 'IndoorPointSample', 'LoadAnnotations3D',
-    'SUNRGBDDataset', 'ScanNetDataset', 'ScanNetSegDataset', 'S3DISSegDataset',
-    'SemanticKITTIDataset', 'Custom3DDataset', 'Custom3DSegDataset',
-    'LoadPointsFromMultiSweeps', 'WaymoDataset', 'BackgroundPointsFilter',
-    'VoxelBasedPointSampler', 'get_loading_pipeline'
+    'PointsRangeFilter', 'Collect3D', 'LoadPointsFromFile', 'S3DISSegDataset',
+    'NormalizePointsColor', 'IndoorPatchPointSample', 'IndoorPointSample',
+    'LoadAnnotations3D', 'GlobalAlignment', 'SUNRGBDDataset', 'ScanNetDataset',
+    'ScanNetSegDataset', 'SemanticKITTIDataset', 'Custom3DDataset',
+    'Custom3DSegDataset', 'LoadPointsFromMultiSweeps', 'WaymoDataset',
+    'BackgroundPointsFilter', 'VoxelBasedPointSampler', 'get_loading_pipeline'
 ]

mmdet3d/datasets/pipelines/__init__.py

@@ -6,11 +6,11 @@ from .loading import (LoadAnnotations3D, LoadImageFromFileMono3D,
                       LoadPointsFromMultiSweeps, NormalizePointsColor,
                       PointSegClassMapping)
 from .test_time_aug import MultiScaleFlipAug3D
-from .transforms_3d import (BackgroundPointsFilter, GlobalRotScaleTrans,
-                            IndoorPatchPointSample, IndoorPointSample,
-                            ObjectNoise, ObjectRangeFilter, ObjectSample,
-                            PointShuffle, PointsRangeFilter, RandomFlip3D,
-                            VoxelBasedPointSampler)
+from .transforms_3d import (BackgroundPointsFilter, GlobalAlignment,
+                            GlobalRotScaleTrans, IndoorPatchPointSample,
+                            IndoorPointSample, ObjectNoise, ObjectRangeFilter,
+                            ObjectSample, PointShuffle, PointsRangeFilter,
+                            RandomFlip3D, VoxelBasedPointSampler)
 
 __all__ = [
     'ObjectSample', 'RandomFlip3D', 'ObjectNoise', 'GlobalRotScaleTrans',
@@ -19,6 +19,6 @@ __all__ = [
     'DefaultFormatBundle', 'DefaultFormatBundle3D', 'DataBaseSampler',
     'NormalizePointsColor', 'LoadAnnotations3D', 'IndoorPointSample',
     'PointSegClassMapping', 'MultiScaleFlipAug3D', 'LoadPointsFromMultiSweeps',
-    'BackgroundPointsFilter', 'VoxelBasedPointSampler',
+    'BackgroundPointsFilter', 'VoxelBasedPointSampler', 'GlobalAlignment',
     'IndoorPatchPointSample', 'LoadImageFromFileMono3D'
 ]

mmdet3d/datasets/pipelines/transforms_3d.py

@@ -293,6 +293,93 @@ class ObjectNoise(object):
         return repr_str
 
 
+@PIPELINES.register_module()
+class GlobalAlignment(object):
+    """Apply global alignment to 3D scene points by rotation and translation.
+
+    Args:
+        rotation_axis (int): Rotation axis for points and bboxes rotation.
+
+    Note:
+        We do not record the applied rotation and translation as in \
+            GlobalRotScaleTrans. Because usually, we do not need to reverse \
+            the alignment step.
+        For example, ScanNet 3D detection task uses aligned ground-truth \
+            bounding boxes for evaluation.
+    """
+
+    def __init__(self, rotation_axis):
+        self.rotation_axis = rotation_axis
+
+    def _trans_points(self, input_dict, trans_factor):
+        """Private function to translate points.
+
+        Args:
+            input_dict (dict): Result dict from loading pipeline.
+            trans_factor (np.ndarray): Translation vector to be applied.
+
+        Returns:
+            dict: Results after translation, 'points' is updated in the dict.
+        """
+        input_dict['points'].translate(trans_factor)
+
+    def _rot_points(self, input_dict, rot_mat):
+        """Private function to rotate bounding boxes and points.
+
+        Args:
+            input_dict (dict): Result dict from loading pipeline.
+            rot_mat (np.ndarray): Rotation matrix to be applied.
+
+        Returns:
+            dict: Results after rotation, 'points' is updated in the dict.
+        """
+        # input should be rot_mat_T so I transpose it here
+        input_dict['points'].rotate(rot_mat.T)
+
+    def _check_rot_mat(self, rot_mat):
+        """Check if rotation matrix is valid for self.rotation_axis.
+
+        Args:
+            rot_mat (np.ndarray): Rotation matrix to be applied.
+        """
+        is_valid = np.allclose(np.linalg.det(rot_mat), 1.0)
+        valid_array = np.zeros(3)
+        valid_array[self.rotation_axis] = 1.0
+        is_valid &= (rot_mat[self.rotation_axis, :] == valid_array).all()
+        is_valid &= (rot_mat[:, self.rotation_axis] == valid_array).all()
+        assert is_valid, f'invalid rotation matrix {rot_mat}'
+
+    def __call__(self, input_dict):
+        """Call function to shuffle points.
+
+        Args:
+            input_dict (dict): Result dict from loading pipeline.
+
+        Returns:
+            dict: Results after global alignment, 'points' and keys in \
+                input_dict['bbox3d_fields'] are updated in the result dict.
+        """
+        assert 'axis_align_matrix' in input_dict['ann_info'].keys(), \
+            'axis_align_matrix is not provided in GlobalAlignment'
+
+        axis_align_matrix = input_dict['ann_info']['axis_align_matrix']
+        assert axis_align_matrix.shape == (4, 4), \
+            f'invalid shape {axis_align_matrix.shape} for axis_align_matrix'
+        rot_mat = axis_align_matrix[:3, :3]
+        trans_vec = axis_align_matrix[:3, -1]
+
+        self._check_rot_mat(rot_mat)
+        self._rot_points(input_dict, rot_mat)
+        self._trans_points(input_dict, trans_vec)
+
+        return input_dict
+
+    def __repr__(self):
+        repr_str = self.__class__.__name__
+        repr_str += f'(rotation_axis={self.rotation_axis})'
+        return repr_str
+
+
 @PIPELINES.register_module()
 class GlobalRotScaleTrans(object):
     """Apply global rotation, scaling and translation to a 3D scene.

mmdet3d/datasets/scannet_dataset.py

 import numpy as np
 import tempfile
+import warnings
 from os import path as osp
 
 from mmdet3d.core import show_result, show_seg_result
@@ -79,6 +80,8 @@ class ScanNetDataset(Custom3DDataset):
                 - gt_labels_3d (np.ndarray): Labels of ground truths.
                 - pts_instance_mask_path (str): Path of instance masks.
                 - pts_semantic_mask_path (str): Path of semantic masks.
+                - axis_align_matrix (np.ndarray): Transformation matrix for \
+                    global scene alignment.
         """
         # Use index to get the annos, thus the evalhook could also use this api
         info = self.data_infos[index]
@@ -102,13 +105,55 @@ class ScanNetDataset(Custom3DDataset):
         pts_semantic_mask_path = osp.join(self.data_root,
                                           info['pts_semantic_mask_path'])
 
+        axis_align_matrix = self._get_axis_align_matrix(info)
+
         anns_results = dict(
             gt_bboxes_3d=gt_bboxes_3d,
             gt_labels_3d=gt_labels_3d,
             pts_instance_mask_path=pts_instance_mask_path,
-            pts_semantic_mask_path=pts_semantic_mask_path)
+            pts_semantic_mask_path=pts_semantic_mask_path,
+            axis_align_matrix=axis_align_matrix)
         return anns_results
 
+    def prepare_test_data(self, index):
+        """Prepare data for testing.
+
+        We should take axis_align_matrix from self.data_infos since we need \
+            to align point clouds.
+
+        Args:
+            index (int): Index for accessing the target data.
+
+        Returns:
+            dict: Testing data dict of the corresponding index.
+        """
+        input_dict = self.get_data_info(index)
+        # take the axis_align_matrix from data_infos
+        input_dict['ann_info'] = dict(
+            axis_align_matrix=self._get_axis_align_matrix(
+                self.data_infos[index]))
+        self.pre_pipeline(input_dict)
+        example = self.pipeline(input_dict)
+        return example
+
+    @staticmethod
+    def _get_axis_align_matrix(info):
+        """Get axis_align_matrix from info. If not exist, return identity mat.
+
+        Args:
+            info (dict): one data info term.
+
+        Returns:
+            np.ndarray: 4x4 transformation matrix.
+        """
+        if 'axis_align_matrix' in info['annos'].keys():
+            return info['annos']['axis_align_matrix'].astype(np.float32)
+        else:
+            warnings.warn(
+                'axis_align_matrix is not found in ScanNet data info, please '
+                'use new pre-process scripts to re-generate ScanNet data')
+            return np.eye(4).astype(np.float32)
+
     def _build_default_pipeline(self):
         """Build the default pipeline for this dataset."""
         pipeline = [
@@ -118,6 +163,7 @@ class ScanNetDataset(Custom3DDataset):
                 shift_height=False,
                 load_dim=6,
                 use_dim=[0, 1, 2]),
+            dict(type='GlobalAlignment', rotation_axis=2),
             dict(
                 type='DefaultFormatBundle3D',
                 class_names=self.CLASSES,

tests/test_data/test_datasets/test_scannet_dataset.py

@@ -27,6 +27,11 @@ def test_getitem():
             with_label_3d=True,
             with_mask_3d=True,
             with_seg_3d=True),
+        dict(type='GlobalAlignment', rotation_axis=2),
+        dict(
+            type='PointSegClassMapping',
+            valid_cat_ids=(3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33,
+                           34, 36, 39)),
         dict(type='IndoorPointSample', num_points=5),
         dict(
             type='RandomFlip3D',
@@ -63,11 +68,12 @@ def test_getitem():
     assert file_name == './tests/data/scannet/points/scene0000_00.bin'
     assert np.allclose(pcd_rotation, expected_rotation, 1e-3)
     assert sample_idx == 'scene0000_00'
-    expected_points = torch.tensor([[-2.7231, -2.2068, 2.3543, 2.3895],
-                                    [-0.4065, -3.4857, 2.1330, 2.1682],
-                                    [-1.4578, 1.3510, -0.0441, -0.0089],
-                                    [2.2428, -1.1323, -0.0288, 0.0064],
-                                    [0.7052, -2.9752, 1.5560, 1.5912]])
+    expected_points = torch.tensor(
+        [[1.8339e+00, 2.1093e+00, 2.2900e+00, 2.3895e+00],
+         [3.6079e+00, 1.4592e-01, 2.0687e+00, 2.1682e+00],
+         [4.1886e+00, 5.0614e+00, -1.0841e-01, -8.8736e-03],
+         [6.8790e+00, 1.5086e+00, -9.3154e-02, 6.3816e-03],
+         [4.8253e+00, 2.6668e-01, 1.4917e+00, 1.5912e+00]])
     expected_gt_bboxes_3d = torch.tensor(
         [[-1.1835, -3.6317, 1.5704, 1.7577, 0.3761, 0.5724, 0.0000],
          [-3.1832, 3.2269, 1.1911, 0.6727, 0.2251, 0.6715, 0.0000],
@@ -78,7 +84,7 @@ def test_getitem():
         6, 6, 4, 9, 11, 11, 10, 0, 15, 17, 17, 17, 3, 12, 4, 4, 14, 1, 0, 0, 0,
         0, 0, 0, 5, 5, 5
     ])
-    expected_pts_semantic_mask = np.array([3, 1, 2, 2, 15])
+    expected_pts_semantic_mask = np.array([0, 18, 18, 18, 18])
     expected_pts_instance_mask = np.array([44, 22, 10, 10, 57])
     original_classes = scannet_dataset.CLASSES
 
@@ -165,6 +171,32 @@ def test_evaluate():
     assert abs(ret_dict['counter_AP_0.25'] - 1.0) < 0.01
     assert abs(ret_dict['curtain_AP_0.25'] - 1.0) < 0.01
 
+    # test evaluate 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='GlobalAlignment', rotation_axis=2),
+        dict(
+            type='DefaultFormatBundle3D',
+            class_names=class_names,
+            with_label=False),
+        dict(type='Collect3D', keys=['points'])
+    ]
+    ret_dict = scannet_dataset.evaluate(
+        results, metric, pipeline=eval_pipeline)
+    assert abs(ret_dict['table_AP_0.25'] - 0.3333) < 0.01
+    assert abs(ret_dict['window_AP_0.25'] - 1.0) < 0.01
+    assert abs(ret_dict['counter_AP_0.25'] - 1.0) < 0.01
+    assert abs(ret_dict['curtain_AP_0.25'] - 1.0) < 0.01
+
 
 def test_show():
     import mmcv
@@ -226,6 +258,7 @@ def test_show():
             shift_height=False,
             load_dim=6,
             use_dim=[0, 1, 2]),
+        dict(type='GlobalAlignment', rotation_axis=2),
         dict(
             type='DefaultFormatBundle3D',
             class_names=class_names,

tests/test_data/test_pipelines/test_augmentations/test_transforms_3d.py

@@ -5,9 +5,10 @@ import torch
 
 from mmdet3d.core import Box3DMode, CameraInstance3DBoxes, LiDARInstance3DBoxes
 from mmdet3d.core.points import DepthPoints, LiDARPoints
-from mmdet3d.datasets import (BackgroundPointsFilter, ObjectNoise,
-                              ObjectSample, PointShuffle, PointsRangeFilter,
-                              RandomFlip3D, VoxelBasedPointSampler)
+from mmdet3d.datasets import (BackgroundPointsFilter, GlobalAlignment,
+                              ObjectNoise, ObjectSample, PointShuffle,
+                              PointsRangeFilter, RandomFlip3D,
+                              VoxelBasedPointSampler)
 
 
 def test_remove_points_in_boxes():
@@ -221,6 +222,39 @@ def test_points_range_filter():
     assert repr_str == expected_repr_str
 
 
+def test_global_alignment():
+    np.random.seed(0)
+    global_alignment = GlobalAlignment(rotation_axis=2)
+
+    points = np.fromfile('tests/data/scannet/points/scene0000_00.bin',
+                         np.float32).reshape(-1, 6)
+    annos = mmcv.load('tests/data/scannet/scannet_infos.pkl')
+    info = annos[0]
+    axis_align_matrix = info['annos']['axis_align_matrix']
+
+    depth_points = DepthPoints(points.copy(), points_dim=6)
+
+    input_dict = dict(
+        points=depth_points.clone(),
+        ann_info=dict(axis_align_matrix=axis_align_matrix))
+
+    input_dict = global_alignment(input_dict)
+    trans_depth_points = input_dict['points']
+
+    # construct expected transformed points by affine transformation
+    pts = np.ones((points.shape[0], 4))
+    pts[:, :3] = points[:, :3]
+    trans_pts = np.dot(pts, axis_align_matrix.T)
+    expected_points = np.concatenate([trans_pts[:, :3], points[:, 3:]], axis=1)
+
+    assert np.allclose(
+        trans_depth_points.tensor.numpy(), expected_points, atol=1e-6)
+
+    repr_str = repr(global_alignment)
+    expected_repr_str = 'GlobalAlignment(rotation_axis=2)'
+    assert repr_str == expected_repr_str
+
+
 def test_random_flip_3d():
     random_flip_3d = RandomFlip3D(
         flip_ratio_bev_horizontal=1.0, flip_ratio_bev_vertical=1.0)

tests/test_data/test_pipelines/test_indoor_pipeline.py

@@ -27,6 +27,11 @@ def test_scannet_pipeline():
             with_label_3d=True,
             with_mask_3d=True,
             with_seg_3d=True),
+        dict(type='GlobalAlignment', rotation_axis=2),
+        dict(
+            type='PointSegClassMapping',
+            valid_cat_ids=(3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33,
+                           34, 36, 39)),
         dict(type='IndoorPointSample', num_points=5),
         dict(
             type='RandomFlip3D',
@@ -66,6 +71,8 @@ def test_scannet_pipeline():
     results['ann_info']['gt_bboxes_3d'] = DepthInstance3DBoxes(
         scannet_gt_bboxes_3d, box_dim=6, with_yaw=False)
     results['ann_info']['gt_labels_3d'] = scannet_gt_labels_3d
+    results['ann_info']['axis_align_matrix'] = \
+        info['annos']['axis_align_matrix']
 
     results['img_fields'] = []
     results['bbox3d_fields'] = []
@@ -79,11 +86,12 @@ def test_scannet_pipeline():
     gt_labels_3d = results['gt_labels_3d']._data
     pts_semantic_mask = results['pts_semantic_mask']._data
     pts_instance_mask = results['pts_instance_mask']._data
-    expected_points = torch.tensor([[-2.7231, -2.2068, 2.3543, 2.3895],
-                                    [-0.4065, -3.4857, 2.1330, 2.1682],
-                                    [-1.4578, 1.3510, -0.0441, -0.0089],
-                                    [2.2428, -1.1323, -0.0288, 0.0064],
-                                    [0.7052, -2.9752, 1.5560, 1.5912]])
+    expected_points = torch.tensor(
+        [[1.8339e+00, 2.1093e+00, 2.2900e+00, 2.3895e+00],
+         [3.6079e+00, 1.4592e-01, 2.0687e+00, 2.1682e+00],
+         [4.1886e+00, 5.0614e+00, -1.0841e-01, -8.8736e-03],
+         [6.8790e+00, 1.5086e+00, -9.3154e-02, 6.3816e-03],
+         [4.8253e+00, 2.6668e-01, 1.4917e+00, 1.5912e+00]])
     expected_gt_bboxes_3d = torch.tensor(
         [[-1.1835, -3.6317, 1.8565, 1.7577, 0.3761, 0.5724, 0.0000],
          [-3.1832, 3.2269, 1.5268, 0.6727, 0.2251, 0.6715, 0.0000],
@@ -94,7 +102,7 @@ def test_scannet_pipeline():
         6, 6, 4, 9, 11, 11, 10, 0, 15, 17, 17, 17, 3, 12, 4, 4, 14, 1, 0, 0, 0,
         0, 0, 0, 5, 5, 5
     ])
-    expected_pts_semantic_mask = np.array([3, 1, 2, 2, 15])
+    expected_pts_semantic_mask = np.array([0, 18, 18, 18, 18])
     expected_pts_instance_mask = np.array([44, 22, 10, 10, 57])
     assert torch.allclose(points, expected_points, 1e-2)
     assert torch.allclose(gt_bboxes_3d.tensor[:5, :], expected_gt_bboxes_3d,

tests/test_utils/test_box3d.py

@@ -11,6 +11,7 @@ from mmdet3d.core.bbox.structures.utils import (get_box_type, limit_period,
                                                 points_cam2img,
                                                 rotation_3d_in_axis,
                                                 xywhr2xyxyr)
+from mmdet3d.core.points import CameraPoints, DepthPoints, LiDARPoints
 
 
 def test_bbox3d_mapping_back():
@@ -225,6 +226,7 @@ def test_lidar_boxes3d():
     assert torch.allclose(points, expected_points)
 
     # test box rotation
+    # with input torch.Tensor points and angle
     expected_tensor = torch.tensor(
         [[1.4225, -2.7344, -1.7501, 1.7500, 3.3900, 1.6500, 1.7976],
          [8.5435, -3.6491, -1.6357, 1.5400, 4.0100, 1.5700, 1.6576],
@@ -244,6 +246,16 @@ def test_lidar_boxes3d():
     assert torch.allclose(points, expected_points, 1e-3)
     assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
 
+    # with input torch.Tensor points and rotation matrix
+    points, rot_mat_T = boxes.rotate(-0.13603681398218053, points)  # back
+    rot_mat = np.array([[0.99076125, -0.13561762, 0.],
+                        [0.13561762, 0.99076125, 0.], [0., 0., 1.]])
+    points, rot_mat_T = boxes.rotate(rot_mat, points)
+    assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
+    assert torch.allclose(points, expected_points, 1e-3)
+    assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
+
+    # with input np.ndarray points and angle
     points_np = np.array([[-1.0280, 0.9888,
                            -1.4658], [-4.3695, 2.1310, -1.3857],
                           [-6.5263, 1.5595,
@@ -262,6 +274,15 @@ def test_lidar_boxes3d():
     assert np.allclose(points_np, expected_points_np, 1e-3)
     assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
 
+    # with input LiDARPoints and rotation matrix
+    points_np, rot_mat_T_np = boxes.rotate(-0.13603681398218053, points_np)
+    lidar_points = LiDARPoints(points_np)
+    lidar_points, rot_mat_T_np = boxes.rotate(rot_mat, lidar_points)
+    points_np = lidar_points.tensor.numpy()
+
+    assert np.allclose(points_np, expected_points_np, 1e-3)
+    assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
+
     # test box scaling
     expected_tensor = torch.tensor([[
         1.0443488, -2.9183323, -1.7599131, 1.7597977, 3.4089797, 1.6592377,
@@ -701,6 +722,7 @@ def test_camera_boxes3d():
     assert torch.allclose(points, expected_points)
 
     # test box rotation
+    # with input torch.Tensor points and angle
     expected_tensor = Box3DMode.convert(
         torch.tensor(
             [[1.4225, -2.7344, -1.7501, 1.7500, 3.3900, 1.6500, 1.7976],
@@ -722,6 +744,17 @@ def test_camera_boxes3d():
     assert torch.allclose(points, expected_points, 1e-3)
     assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
 
+    # with input torch.Tensor points and rotation matrix
+    points, rot_mat_T = boxes.rotate(
+        torch.tensor(-0.13603681398218053), points)  # back
+    rot_mat = np.array([[0.99076125, 0., -0.13561762], [0., 1., 0.],
+                        [0.13561762, 0., 0.99076125]])
+    points, rot_mat_T = boxes.rotate(rot_mat, points)
+    assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
+    assert torch.allclose(points, expected_points, 1e-3)
+    assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
+
+    # with input np.ndarray points and angle
     points_np = np.array([[0.6762, 1.2559, -1.4658, 2.5359],
                           [0.8784, 4.7814, -1.3857, 0.7167],
                           [-0.2517, 6.7053, -0.9697, 0.5599],
@@ -741,6 +774,15 @@ def test_camera_boxes3d():
     assert np.allclose(points_np, expected_points_np, 1e-3)
     assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
 
+    # with input CameraPoints and rotation matrix
+    points_np, rot_mat_T_np = boxes.rotate(
+        torch.tensor(-0.13603681398218053), points_np)
+    camera_points = CameraPoints(points_np, points_dim=4)
+    camera_points, rot_mat_T_np = boxes.rotate(rot_mat, camera_points)
+    points_np = camera_points.tensor.numpy()
+    assert np.allclose(points_np, expected_points_np, 1e-3)
+    assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
+
     # test box scaling
     expected_tensor = Box3DMode.convert(
         torch.tensor([[
@@ -1007,7 +1049,7 @@ def test_depth_boxes3d():
     # test box concatenation
     expected_tensor = torch.tensor(
         [[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601],
-         [2.3262, 3.3065, --0.44255, 0.8234, 0.5325, 1.0099, 2.9971],
+         [2.3262, 3.3065, 0.44255, 0.8234, 0.5325, 1.0099, 2.9971],
          [2.4593, 2.5870, -0.4321, 0.8597, 0.6193, 1.0204, 3.0693],
          [1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601]])
     boxes = DepthInstance3DBoxes.cat([boxes_1, boxes_2])
@@ -1049,14 +1091,16 @@ def test_depth_boxes3d():
                                     [0.5358, -4.5870, -1.4741, 0.0556]])
     assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
     assert torch.allclose(points, expected_points)
+
     # test box rotation
+    # with input torch.Tensor points and angle
     boxes_rot = boxes.clone()
     expected_tensor = torch.tensor(
         [[-1.5434, -2.4951, -0.5570, 0.9385, 2.1404, 0.8954, -0.0585],
          [-2.4016, -3.2521, 0.4426, 0.8234, 0.5325, 1.0099, -0.1215],
          [-2.5181, -2.5298, -0.4321, 0.8597, 0.6193, 1.0204, -0.0493],
          [-1.5434, -2.4951, -0.5570, 0.9385, 2.1404, 0.8954, -0.0585]])
-    points, rot_mar_T = boxes_rot.rotate(-0.022998953275003075, points)
+    points, rot_mat_T = boxes_rot.rotate(-0.022998953275003075, points)
     expected_points = torch.tensor([[-0.7049, -1.2400, -1.4658, 2.5359],
                                     [-0.9881, -4.7599, -1.3857, 0.7167],
                                     [0.0974, -6.7093, -0.9697, 0.5599],
@@ -1067,14 +1111,24 @@ def test_depth_boxes3d():
                                        [0.0000, 0.0000, 1.0000]])
     assert torch.allclose(boxes_rot.tensor, expected_tensor, 1e-3)
     assert torch.allclose(points, expected_points, 1e-3)
-    assert torch.allclose(rot_mar_T, expected_rot_mat_T, 1e-3)
+    assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
+
+    # with input torch.Tensor points and rotation matrix
+    points, rot_mat_T = boxes.rotate(0.022998953275003075, points)  # back
+    rot_mat = np.array([[0.99973554, 0.02299693, 0.],
+                        [-0.02299693, 0.99973554, 0.], [0., 0., 1.]])
+    points, rot_mat_T = boxes.rotate(rot_mat, points)
+    assert torch.allclose(boxes_rot.tensor, expected_tensor, 1e-3)
+    assert torch.allclose(points, expected_points, 1e-3)
+    assert torch.allclose(rot_mat_T, expected_rot_mat_T, 1e-3)
 
+    # with input np.ndarray points and angle
     points_np = np.array([[0.6762, 1.2559, -1.4658, 2.5359],
                           [0.8784, 4.7814, -1.3857, 0.7167],
                           [-0.2517, 6.7053, -0.9697, 0.5599],
                           [0.5520, 0.6533, -0.5265, 1.0032],
                           [-0.5358, 4.5870, -1.4741, 0.0556]])
-    points_np, rot_mar_T_np = boxes.rotate(-0.022998953275003075, points_np)
+    points_np, rot_mat_T_np = boxes.rotate(-0.022998953275003075, points_np)
     expected_points_np = np.array([[0.7049, 1.2400, -1.4658, 2.5359],
                                    [0.9881, 4.7599, -1.3857, 0.7167],
                                    [-0.0974, 6.7093, -0.9697, 0.5599],
@@ -1090,7 +1144,17 @@ def test_depth_boxes3d():
          [-1.5434, -2.4951, -0.5570, 0.9385, 2.1404, 0.8954, -0.0585]])
     assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
     assert np.allclose(points_np, expected_points_np, 1e-3)
-    assert np.allclose(rot_mar_T_np, expected_rot_mat_T_np, 1e-3)
+    assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
+
+    # with input DepthPoints and rotation matrix
+    points_np, rot_mat_T_np = boxes.rotate(0.022998953275003075, points_np)
+    depth_points = DepthPoints(points_np, points_dim=4)
+    depth_points, rot_mat_T_np = boxes.rotate(rot_mat, depth_points)
+    points_np = depth_points.tensor.numpy()
+    assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
+    assert np.allclose(points_np, expected_points_np, 1e-3)
+    assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
+
     th_boxes = torch.tensor(
         [[0.61211395, 0.8129094, 0.10563634, 1.497534, 0.16927195, 0.27956772],
          [1.430009, 0.49797538, 0.9382923, 0.07694054, 0.9312509, 1.8919173]],

tools/data_converter/scannet_data_utils.py

@@ -42,12 +42,24 @@ class ScanNetData(object):
     def __len__(self):
         return len(self.sample_id_list)
 
-    def get_box_label(self, idx):
+    def get_aligned_box_label(self, idx):
         box_file = osp.join(self.root_dir, 'scannet_instance_data',
-                            f'{idx}_bbox.npy')
+                            f'{idx}_aligned_bbox.npy')
         mmcv.check_file_exist(box_file)
         return np.load(box_file)
 
+    def get_unaligned_box_label(self, idx):
+        box_file = osp.join(self.root_dir, 'scannet_instance_data',
+                            f'{idx}_unaligned_bbox.npy')
+        mmcv.check_file_exist(box_file)
+        return np.load(box_file)
+
+    def get_axis_align_matrix(self, idx):
+        matrix_file = osp.join(self.root_dir, 'scannet_instance_data',
+                               f'{idx}_axis_align_matrix.npy')
+        mmcv.check_file_exist(matrix_file)
+        return np.load(matrix_file)
+
     def get_infos(self, num_workers=4, has_label=True, sample_id_list=None):
         """Get data infos.
 
@@ -106,25 +118,35 @@ class ScanNetData(object):
 
             if has_label:
                 annotations = {}
-                boxes_with_classes = self.get_box_label(
-                    sample_idx)  # k, 6 + class
-                annotations['gt_num'] = boxes_with_classes.shape[0]
+                # box is of shape [k, 6 + class]
+                aligned_box_label = self.get_aligned_box_label(sample_idx)
+                unaligned_box_label = self.get_unaligned_box_label(sample_idx)
+                annotations['gt_num'] = aligned_box_label.shape[0]
                 if annotations['gt_num'] != 0:
-                    minmax_boxes3d = boxes_with_classes[:, :-1]  # k, 6
-                    classes = boxes_with_classes[:, -1]  # k, 1
+                    aligned_box = aligned_box_label[:, :-1]  # k, 6
+                    unaligned_box = unaligned_box_label[:, :-1]
+                    classes = aligned_box_label[:, -1]  # k
                     annotations['name'] = np.array([
                         self.label2cat[self.cat_ids2class[classes[i]]]
                         for i in range(annotations['gt_num'])
                     ])
-                    annotations['location'] = minmax_boxes3d[:, :3]
-                    annotations['dimensions'] = minmax_boxes3d[:, 3:6]
-                    annotations['gt_boxes_upright_depth'] = minmax_boxes3d
+                    # default names are given to aligned bbox for compatibility
+                    # we also save unaligned bbox info with marked names
+                    annotations['location'] = aligned_box[:, :3]
+                    annotations['dimensions'] = aligned_box[:, 3:6]
+                    annotations['gt_boxes_upright_depth'] = aligned_box
+                    annotations['unaligned_location'] = unaligned_box[:, :3]
+                    annotations['unaligned_dimensions'] = unaligned_box[:, 3:6]
+                    annotations[
+                        'unaligned_gt_boxes_upright_depth'] = unaligned_box
                     annotations['index'] = np.arange(
                         annotations['gt_num'], dtype=np.int32)
                     annotations['class'] = np.array([
                         self.cat_ids2class[classes[i]]
                         for i in range(annotations['gt_num'])
                     ])
+                axis_align_matrix = self.get_axis_align_matrix(sample_idx)
+                annotations['axis_align_matrix'] = axis_align_matrix  # 4x4
                 info['annos'] = annotations
             return info
 
@@ -197,9 +219,6 @@ class ScanNetSegData(object):
                 mask = np.load(mask)
             else:
                 mask = np.fromfile(mask, dtype=np.long)
-        # first filter out unannotated points (labeled as 0)
-        mask = mask[mask != 0]
-        # then convert to [0, 20) labels
         label = self.cat_id2class[mask]
         return label