[Fix] Remove the legacy hack function for monocular dataset browsing (#794)

* Remove the legacy hack function for monocular dataset browsing

* Remove legacy import from stucture/__init__.py

* Remove legacy hacks for nuScenes visualization

* Add deleted show_bboxes initialization in inference.py

* Rollback deletion of hack function in core

* Adjust the deprecationwarning

mmdet3d/apis/inference.py

@@ -7,11 +7,11 @@ from mmcv.parallel import collate, scatter
 from mmcv.runner import load_checkpoint
 from os import path as osp
 
-from mmdet3d.core import (Box3DMode, DepthInstance3DBoxes,
-                          LiDARInstance3DBoxes, show_multi_modality_result,
-                          show_result, show_seg_result)
+from mmdet3d.core import (Box3DMode, CameraInstance3DBoxes,
+                          DepthInstance3DBoxes, LiDARInstance3DBoxes,
+                          show_multi_modality_result, show_result,
+                          show_seg_result)
 from mmdet3d.core.bbox import get_box_type
-from mmdet3d.core.bbox.structures.cam_box3d import CameraInstance3DBoxes
 from mmdet3d.datasets.pipelines import Compose
 from mmdet3d.models import build_model
 
@@ -427,11 +427,8 @@ def show_proj_det_result_meshlab(data,
             raise NotImplementedError(
                 'camera intrinsic matrix is not provided')
 
-        from mmdet3d.core.bbox import mono_cam_box2vis
         show_bboxes = CameraInstance3DBoxes(
             pred_bboxes, box_dim=pred_bboxes.shape[-1], origin=(0.5, 1.0, 0.5))
-        # TODO: remove the hack of box from NuScenesMonoDataset
-        show_bboxes = mono_cam_box2vis(show_bboxes)
 
         show_multi_modality_result(
             img,

mmdet3d/core/bbox/structures/utils.py

 import numpy as np
 import torch
+from logging import warning
 
 
 def limit_period(val, offset=0.5, period=np.pi):
@@ -167,6 +168,9 @@ def mono_cam_box2vis(cam_box):
     Returns:
         :obj:`CameraInstance3DBoxes`: Box after conversion.
     """
+    warning.warn('DeprecationWarning: The hack of yaw and dimension in the '
+                 'monocular 3D detection on nuScenes has been removed. The '
+                 'function mono_cam_box2vis will be deprecated.')
     from . import CameraInstance3DBoxes
     assert isinstance(cam_box, CameraInstance3DBoxes), \
         'input bbox should be CameraInstance3DBoxes!'

mmdet3d/datasets/nuscenes_mono_dataset.py

@@ -11,7 +11,7 @@ from os import path as osp
 from mmdet3d.core import bbox3d2result, box3d_multiclass_nms, xywhr2xyxyr
 from mmdet.datasets import DATASETS, CocoDataset
 from ..core import show_multi_modality_result
-from ..core.bbox import CameraInstance3DBoxes, get_box_type, mono_cam_box2vis
+from ..core.bbox import CameraInstance3DBoxes, get_box_type
 from .pipelines import Compose
 from .utils import extract_result_dict, get_loading_pipeline
 
@@ -624,9 +624,6 @@ class NuScenesMonoDataset(CocoDataset):
             img = img.numpy().transpose(1, 2, 0)
             gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d']
             pred_bboxes = result['boxes_3d']
-            # TODO: remove the hack of box from NuScenesMonoDataset
-            gt_bboxes = mono_cam_box2vis(gt_bboxes)
-            pred_bboxes = mono_cam_box2vis(pred_bboxes)
             show_multi_modality_result(
                 img,
                 gt_bboxes,

mmdet3d/models/detectors/single_stage_mono3d.py

@@ -5,7 +5,7 @@ from mmcv.parallel import DataContainer as DC
 from os import path as osp
 
 from mmdet3d.core import (CameraInstance3DBoxes, bbox3d2result,
-                          mono_cam_box2vis, show_multi_modality_result)
+                          show_multi_modality_result)
 from mmdet.models.builder import DETECTORS
 from mmdet.models.detectors.single_stage import SingleStageDetector
 
@@ -207,9 +207,6 @@ class SingleStageMono3DDetector(SingleStageDetector):
             assert isinstance(pred_bboxes, CameraInstance3DBoxes), \
                 f'unsupported predicted bbox type {type(pred_bboxes)}'
 
-            # TODO: remove the hack of box from NuScenesMonoDataset
-            pred_bboxes = mono_cam_box2vis(pred_bboxes)
-
             show_multi_modality_result(
                 img,
                 None,