add METAINFO for waymo dataset and support file_client_args for waymo evaluation (#1769)

mmdet3d/datasets/waymo_dataset.py

@@ -59,8 +59,7 @@ class WaymoDataset(KittiDataset):
             mono3d: take the groundtruth that can be seen in the cam.
         max_sweeps (int, optional): max sweep for each frame.
     """
-
-    CLASSES = ('Car', 'Pedestrian', 'Cyclist')
+    METAINFO = {'CLASSES': ('Car', 'Pedestrian', 'Cyclist')}
 
     def __init__(self,
                  data_root: str,
@@ -88,7 +87,7 @@ class WaymoDataset(KittiDataset):
         # set loading mode for different task settings
         self.cam_sync_instances = cam_sync_instances
         # construct self.cat_ids for vision-only anns parsing
-        self.cat_ids = range(len(self.CLASSES))
+        self.cat_ids = range(len(self.METAINFO['CLASSES']))
         self.cat2label = {cat_id: i for i, cat_id in enumerate(self.cat_ids)}
         self.max_sweeps = max_sweeps
         self.task = task

mmdet3d/evaluation/metrics/waymo_metric.py

@@ -73,7 +73,6 @@ class WaymoMetric(KittiMetric):
 
         self.waymo_bin_file = waymo_bin_file
         self.data_root = data_root
-        self.file_client_args = file_client_args
         self.split = split
         self.task = task
         self.use_pred_sample_idx = use_pred_sample_idx
@@ -85,7 +84,8 @@ class WaymoMetric(KittiMetric):
             pklfile_prefix=pklfile_prefix,
             submission_prefix=submission_prefix,
             default_cam_key=default_cam_key,
-            collect_device=collect_device)
+            collect_device=collect_device,
+            file_client_args=file_client_args)
         self.default_prefix = 'Waymo metric'
 
     def compute_metrics(self, results: list) -> Dict[str, float]:
@@ -102,8 +102,7 @@ class WaymoMetric(KittiMetric):
         self.classes = self.dataset_meta['CLASSES']
 
         # load annotations
-        self.data_infos = load(
-            self.ann_file, file_client_args=self.file_client_args)['data_list']
+        self.data_infos = load(self.ann_file)['data_list']
         # different from kitti, waymo do not need to convert the ann file
 
         if self.pklfile_prefix is None:

mmdet3d/utils/misc.py

@@ -75,6 +75,10 @@ def replace_ceph_backend(cfg):
     cfg_pretty_text = cfg_pretty_text.replace(
         'LoadAnnotations3D\'', 'LoadAnnotations3D\',' + replace_strs)
 
+    # replace WaymoMetric
+    cfg_pretty_text = cfg_pretty_text.replace('WaymoMetric\'',
+                                              'WaymoMetric\',' + replace_strs)
+
     # replace dbsampler
     cfg_pretty_text = cfg_pretty_text.replace('info_path',
                                               replace_strs + ', info_path')