[Fix] fix waymo training and eval bug (#1733)

* fix waymo bug

* update ceph replace

* add file_client_args for kitti2waymo

configs/_base_/datasets/waymoD5-3d-3class.py

@@ -72,12 +72,7 @@ test_pipeline = [
 # 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=6,
-        use_dim=5,
-        file_client_args=file_client_args),
+    dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5),
     dict(type='Pack3DDetInputs', keys=['points']),
 ]
 
@@ -141,6 +136,5 @@ val_evaluator = dict(
     type='WaymoMetric',
     ann_file='./data/waymo/kitti_format/waymo_infos_val.pkl',
     waymo_bin_file='./data/waymo/waymo_format/gt.bin',
-    data_root='./data/waymo/waymo_format',
-    file_client_args=file_client_args)
+    data_root='./data/waymo/waymo_format')
 test_evaluator = val_evaluator

configs/_base_/datasets/waymoD5-3d-car.py

@@ -70,12 +70,7 @@ test_pipeline = [
 # 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=6,
-        use_dim=5,
-        file_client_args=file_client_args),
+    dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5),
     dict(type='Pack3DDetInputs', keys=['points']),
 ]
 
@@ -139,6 +134,5 @@ val_evaluator = dict(
     type='WaymoMetric',
     ann_file='./data/waymo/kitti_format/waymo_infos_val.pkl',
     waymo_bin_file='./data/waymo/waymo_format/gt.bin',
-    data_root='./data/waymo/waymo_format',
-    file_client_args=file_client_args)
+    data_root='./data/waymo/waymo_format')
 test_evaluator = val_evaluator

mmdet3d/evaluation/functional/waymo_utils/prediction_kitti_to_waymo.py

@@ -44,7 +44,8 @@ class KITTI2Waymo(object):
                  waymo_results_save_dir,
                  waymo_results_final_path,
                  prefix,
-                 workers=64):
+                 workers=64,
+                 file_client_args=dict(backend='disk')):
 
         self.kitti_result_files = kitti_result_files
         self.waymo_tfrecords_dir = waymo_tfrecords_dir
@@ -52,10 +53,11 @@ class KITTI2Waymo(object):
         self.waymo_results_final_path = waymo_results_final_path
         self.prefix = prefix
         self.workers = int(workers)
+        self.file_client_args = file_client_args
         self.name2idx = {}
         for idx, result in enumerate(kitti_result_files):
-            if len(result['sample_idx']) > 0:
-                self.name2idx[str(result['sample_idx'][0])] = idx
+            if len(result['sample_id']) > 0:
+                self.name2idx[str(result['sample_id'][0])] = idx
 
         # turn on eager execution for older tensorflow versions
         if int(tf.__version__.split('.')[0]) < 2:
@@ -78,8 +80,23 @@ class KITTI2Waymo(object):
 
     def get_file_names(self):
         """Get file names of waymo raw data."""
-        self.waymo_tfrecord_pathnames = sorted(
-            glob(join(self.waymo_tfrecords_dir, '*.tfrecord')))
+        if 'path_mapping' in self.file_client_args:
+            for path in self.file_client_args['path_mapping'].keys():
+                if path in self.waymo_tfrecords_dir:
+                    self.waymo_tfrecords_dir = \
+                        self.waymo_tfrecords_dir.replace(
+                            path, self.file_client_args['path_mapping'][path])
+            from petrel_client.client import Client
+            client = Client()
+            contents = client.list(self.waymo_tfrecords_dir)
+            self.waymo_tfrecord_pathnames = list()
+            for content in sorted(list(contents)):
+                if content.endswith('tfrecord'):
+                    self.waymo_tfrecord_pathnames.append(
+                        join(self.waymo_tfrecords_dir, content))
+        else:
+            self.waymo_tfrecord_pathnames = sorted(
+                glob(join(self.waymo_tfrecords_dir, '*.tfrecord')))
         print(len(self.waymo_tfrecord_pathnames), 'tfrecords found.')
 
     def create_folder(self):

mmdet3d/evaluation/metrics/waymo_metric.py

@@ -7,6 +7,7 @@ import mmcv
 import numpy as np
 import torch
 from mmcv.utils import print_log
+from mmengine import load
 from mmengine.logging import MMLogger
 
 from mmdet3d.models.layers import box3d_multiclass_nms
@@ -102,7 +103,8 @@ class WaymoMetric(KittiMetric):
         self.classes = self.dataset_meta['CLASSES']
 
         # load annotations
-        self.data_infos = self.load_annotations(self.ann_file)['data_list']
+        self.data_infos = load(
+            self.ann_file, file_client_args=self.file_client_args)['data_list']
         # different from kitti, waymo do not need to convert the ann file
 
         if self.pklfile_prefix is None:
@@ -223,7 +225,7 @@ class WaymoMetric(KittiMetric):
         waymo_save_tmp_dir = tempfile.TemporaryDirectory()
         waymo_results_save_dir = waymo_save_tmp_dir.name
         waymo_results_final_path = f'{pklfile_prefix}.bin'
-        from ..core.evaluation.waymo_utils.prediction_kitti_to_waymo import \
+        from ..functional.waymo_utils.prediction_kitti_to_waymo import \
             KITTI2Waymo
         converter = KITTI2Waymo(
             result_files['pred_instances_3d'],

mmdet3d/utils/misc.py

@@ -8,7 +8,7 @@ def replace_ceph_backend(cfg):
         r'''file_client_args = dict(
             backend='petrel',
             path_mapping=dict({
-                '.data/DATA/': 's3://openmmlab/datasets/detection3d/CEPH/',
+                './data/DATA/': 's3://openmmlab/datasets/detection3d/CEPH/',
                 'data/DATA/': 's3://openmmlab/datasets/detection3d/CEPH/'
             }))
         '''
@@ -19,12 +19,12 @@ def replace_ceph_backend(cfg):
     elif 'lyft' in cfg_pretty_text:
         replace_strs = replace_strs.replace('DATA', 'lyft')
         replace_strs = replace_strs.replace('CEPH', 'lyft')
-    elif 'kitti' in cfg_pretty_text:
-        replace_strs = replace_strs.replace('DATA', 'kitti')
-        replace_strs = replace_strs.replace('CEPH', 'kitti')
     elif 'waymo' in cfg_pretty_text:
         replace_strs = replace_strs.replace('DATA', 'waymo')
         replace_strs = replace_strs.replace('CEPH', 'waymo')
+    elif 'kitti' in cfg_pretty_text:
+        replace_strs = replace_strs.replace('DATA', 'kitti')
+        replace_strs = replace_strs.replace('CEPH', 'kitti')
     elif 'scannet' in cfg_pretty_text:
         replace_strs = replace_strs.replace('DATA', 'scannet')
         replace_strs = replace_strs.replace('CEPH', 'scannet_processed')