delete augmentation related

mmdet3d/datasets/pipelines/indoor_augment.py

-import numpy as np
-
-from mmdet.datasets.registry import PIPELINES
-
-
-def _rotz(t):
-    """Rotate About Z.
-
-    Rotation about the z-axis.
-
-    Args:
-        t (float): Angle of rotation.
-
-    Returns:
-        rot_mat (ndarray): Matrix of rotation.
-    """
-    c = np.cos(t)
-    s = np.sin(t)
-    rot_mat = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])
-    return rot_mat
-
-
-def _rotate_aligned_boxes(input_boxes, rot_mat):
-    centers, lengths = input_boxes[:, 0:3], input_boxes[:, 3:6]
-    new_centers = np.dot(centers, np.transpose(rot_mat))
-
-    dx, dy = lengths[:, 0] / 2.0, lengths[:, 1] / 2.0
-    new_x = np.zeros((dx.shape[0], 4))
-    new_y = np.zeros((dx.shape[0], 4))
-
-    for i, crnr in enumerate([(-1, -1), (1, -1), (1, 1), (-1, 1)]):
-        crnrs = np.zeros((dx.shape[0], 3))
-        crnrs[:, 0] = crnr[0] * dx
-        crnrs[:, 1] = crnr[1] * dy
-        crnrs = np.dot(crnrs, np.transpose(rot_mat))
-        new_x[:, i] = crnrs[:, 0]
-        new_y[:, i] = crnrs[:, 1]
-
-    new_dx = 2.0 * np.max(new_x, 1)
-    new_dy = 2.0 * np.max(new_y, 1)
-    new_lengths = np.stack((new_dx, new_dy, lengths[:, 2]), axis=1)
-
-    return np.concatenate([new_centers, new_lengths], axis=1)
-
-
-@PIPELINES.register_module()
-class IndoorFlipData(object):
-    """Indoor Flip Data
-
-    Flip point_cloud and groundtruth boxes.
-
-    Args:
-        name (str): name of the dataset.
-    """
-
-    def __init__(self, name):
-        assert name in ['scannet', 'sunrgbd']
-        self.name = name
-
-    def __call__(self, results):
-        point_cloud = results.get('point_cloud', None)
-        gt_boxes = results.get('gt_boxes', None)
-
-        if np.random.random() > 0.5:
-            # Flipping along the YZ plane
-            point_cloud[:, 0] = -1 * point_cloud[:, 0]
-            gt_boxes[:, 0] = -1 * gt_boxes[:, 0]
-            if self.name == 'sunrgbd':
-                gt_boxes[:, 6] = np.pi - gt_boxes[:, 6]
-            results['gt_boxes'] = gt_boxes
-
-        if self.name == 'scannet' and np.random.random() > 0.5:
-            # Flipping along the XZ plane
-            point_cloud[:, 1] = -1 * point_cloud[:, 1]
-            gt_boxes[:, 1] = -1 * gt_boxes[:, 1]
-            results['gt_boxes'] = gt_boxes
-        results['point_cloud'] = point_cloud
-
-        return results
-
-    def __repr__(self):
-        repr_str = self.__class__.__name__
-        repr_str += '(dataset_name={})'.format(self.name)
-        return repr_str
-
-
-@PIPELINES.register_module()
-class IndoorRotateData(object):
-    """Indoor Rotate Data
-
-    Rotate point_cloud and groundtruth boxes.
-
-    Args:
-        name (str): name of the dataset.
-    """
-
-    def __init__(self, name):
-        assert name in ['scannet', 'sunrgbd']
-        self.name = name
-        self.rot_range = np.pi / 3
-
-    def __call__(self, results):
-        point_cloud = results.get('point_cloud', None)
-        gt_boxes = results.get('gt_boxes', None)
-        rot_angle = (np.random.random() *
-                     self.rot_range) - self.rot_range / 2  # -30 ~ +30 degree
-        rot_mat = _rotz(rot_angle)
-        point_cloud[:, 0:3] = np.dot(point_cloud[:, 0:3],
-                                     np.transpose(rot_mat))
-
-        if self.name == 'scannet':
-            gt_boxes = _rotate_aligned_boxes(gt_boxes, rot_mat)
-        else:
-            gt_boxes[:, 0:3] = np.dot(gt_boxes[:, 0:3], np.transpose(rot_mat))
-            gt_boxes[:, 6] -= rot_angle
-
-        results['point_cloud'] = point_cloud
-        results['gt_boxes'] = gt_boxes
-        return results
-
-    def __repr__(self):
-        repr_str = self.__class__.__name__
-        repr_str += '(dataset_name={})'.format(self.name)
-        return repr_str

tests/test_indoor_augment.py

-import numpy as np
-
-from mmdet3d.datasets.pipelines.indoor_augment import (IndoorFlipData,
-                                                       IndoorRotateData)
-
-
-def test_indoor_flip_data():
-    sunrgbd_flip_data = IndoorFlipData('sunrgbd')
-    sunrgbd_results = dict()
-    sunrgbd_results['point_cloud'] = np.array(
-        [[1.02828765e+00, 3.65790772e+00, 1.97294697e-01, 1.61959505e+00],
-         [-3.95979017e-01, 1.05465031e+00, -7.49204338e-01, 6.73096001e-01]])
-    sunrgbd_results['gt_boxes'] = np.array([[
-        0.213684, 1.036364, -0.982323, 0.61541, 0.572574, 0.872728, 3.07028526
-    ],
-                                            [
-                                                -0.449953, 1.395455, -1.027778,
-                                                1.500956, 1.637298, 0.636364,
-                                                -1.58242359
-                                            ]])
-    sunrgbd_results = sunrgbd_flip_data(sunrgbd_results)
-    sunrgbd_point_cloud = sunrgbd_results.get('point_cloud', None)
-    sunrgbd_gt_boxes = sunrgbd_results.get('gt_boxes', None)
-    assert sunrgbd_point_cloud.shape == (2, 4)
-    assert sunrgbd_gt_boxes.shape == (2, 7)
-
-    scannet_flip_data = IndoorFlipData('scannet')
-    scannet_results = dict()
-    scannet_results['point_cloud'] = np.array(
-        [[1.6110241e+00, -1.6903955e-01, 5.8115810e-01, 5.9897250e-01],
-         [1.3978075e+00, 4.2035791e-01, 3.8729519e-01, 4.0510958e-01]])
-    scannet_results['gt_boxes'] = np.array([[
-        0.55903838, 0.48201692, 0.65688646, 0.65370704, 0.60029864, 0.5163464
-    ], [
-        -0.03226406, 1.70392646, 0.60348618, 0.65165804, 0.72084366, 0.64667457
-    ]])
-    scannet_results = scannet_flip_data(scannet_results)
-    scannet_point_cloud = scannet_results.get('point_cloud', None)
-    scannet_gt_boxes = scannet_results.get('gt_boxes', None)
-    assert scannet_point_cloud.shape == (2, 4)
-    assert scannet_gt_boxes.shape == (2, 6)
-
-
-def test_indoor_rotate_data():
-    sunrgbd_indoor_rotate_data = IndoorRotateData('sunrgbd')
-
-    sunrgbd_results = dict()
-    sunrgbd_results['point_cloud'] = np.array(
-        [[1.02828765e+00, 3.65790772e+00, 1.97294697e-01, 1.61959505e+00],
-         [-3.95979017e-01, 1.05465031e+00, -7.49204338e-01, 6.73096001e-01]])
-    sunrgbd_results['gt_boxes'] = np.array([[
-        0.213684, 1.036364, -0.982323, 0.61541, 0.572574, 0.872728, 3.07028526
-    ],
-                                            [
-                                                -0.449953, 1.395455, -1.027778,
-                                                1.500956, 1.637298, 0.636364,
-                                                -1.58242359
-                                            ]])
-    sunrgbd_results = sunrgbd_indoor_rotate_data(sunrgbd_results)
-    sunrgbd_point_cloud = sunrgbd_results.get('point_cloud', None)
-    sunrgbd_gt_boxes = sunrgbd_results.get('gt_boxes', None)
-    assert sunrgbd_point_cloud.shape == (2, 4)
-    assert sunrgbd_gt_boxes.shape == (2, 7)
-
-    scannet_indoor_rotate_data = IndoorRotateData('scannet')
-    scannet_results = dict()
-    scannet_results['point_cloud'] = np.array(
-        [[1.6110241e+00, -1.6903955e-01, 5.8115810e-01, 5.9897250e-01],
-         [1.3978075e+00, 4.2035791e-01, 3.8729519e-01, 4.0510958e-01]])
-    scannet_results['gt_boxes'] = np.array([[
-        0.55903838, 0.48201692, 0.65688646, 0.65370704, 0.60029864, 0.5163464
-    ], [
-        -0.03226406, 1.70392646, 0.60348618, 0.65165804, 0.72084366, 0.64667457
-    ]])
-    scannet_results = scannet_indoor_rotate_data(scannet_results)
-    scannet_point_cloud = scannet_results.get('point_cloud', None)
-    scannet_gt_boxes = scannet_results.get('gt_boxes', None)
-    assert scannet_point_cloud.shape == (2, 4)
-    assert scannet_gt_boxes.shape == (2, 6)