# Copyright (c) OpenMMLab. All rights reserved. import tempfile from os import path as osp from typing import Dict, List, Optional, Sequence, Tuple, Union import mmengine import numpy as np import pyquaternion import torch from mmengine import Config, load from mmengine.evaluator import BaseMetric from mmengine.logging import MMLogger from nuscenes.eval.detection.config import config_factory from nuscenes.eval.detection.data_classes import DetectionConfig from nuscenes.utils.data_classes import Box as NuScenesBox from mmdet3d.models.layers import box3d_multiclass_nms from mmdet3d.registry import METRICS from mmdet3d.structures import (CameraInstance3DBoxes, LiDARInstance3DBoxes, bbox3d2result, xywhr2xyxyr) @METRICS.register_module() class NuScenesMetric(BaseMetric): """Nuscenes evaluation metric. Args: data_root (str): Path of dataset root. ann_file (str): Path of annotation file. metric (str or List[str]): Metrics to be evaluated. Defaults to 'bbox'. modality (dict): Modality to specify the sensor data used as input. Defaults to dict(use_camera=False, use_lidar=True). prefix (str, optional): The prefix that will be added in the metric names to disambiguate homonymous metrics of different evaluators. If prefix is not provided in the argument, self.default_prefix will be used instead. Defaults to None. format_only (bool): Format the output results without perform evaluation. It is useful when you want to format the result to a specific format and submit it to the test server. Defaults to False. jsonfile_prefix (str, optional): The prefix of json files including the file path and the prefix of filename, e.g., "a/b/prefix". If not specified, a temp file will be created. Defaults to None. eval_version (str): Configuration version of evaluation. Defaults to 'detection_cvpr_2019'. collect_device (str): Device name used for collecting results from different ranks during distributed training. Must be 'cpu' or 'gpu'. Defaults to 'cpu'. file_client_args (dict): Arguments to instantiate a FileClient. See :class:`mmengine.fileio.FileClient` for details. Defaults to dict(backend='disk'). """ NameMapping = { 'movable_object.barrier': 'barrier', 'vehicle.bicycle': 'bicycle', 'vehicle.bus.bendy': 'bus', 'vehicle.bus.rigid': 'bus', 'vehicle.car': 'car', 'vehicle.construction': 'construction_vehicle', 'vehicle.motorcycle': 'motorcycle', 'human.pedestrian.adult': 'pedestrian', 'human.pedestrian.child': 'pedestrian', 'human.pedestrian.construction_worker': 'pedestrian', 'human.pedestrian.police_officer': 'pedestrian', 'movable_object.trafficcone': 'traffic_cone', 'vehicle.trailer': 'trailer', 'vehicle.truck': 'truck' } DefaultAttribute = { 'car': 'vehicle.parked', 'pedestrian': 'pedestrian.moving', 'trailer': 'vehicle.parked', 'truck': 'vehicle.parked', 'bus': 'vehicle.moving', 'motorcycle': 'cycle.without_rider', 'construction_vehicle': 'vehicle.parked', 'bicycle': 'cycle.without_rider', 'barrier': '', 'traffic_cone': '', } # https://github.com/nutonomy/nuscenes-devkit/blob/57889ff20678577025326cfc24e57424a829be0a/python-sdk/nuscenes/eval/detection/evaluate.py#L222 # noqa ErrNameMapping = { 'trans_err': 'mATE', 'scale_err': 'mASE', 'orient_err': 'mAOE', 'vel_err': 'mAVE', 'attr_err': 'mAAE' } def __init__( self, data_root: str, ann_file: str, metric: Union[str, List[str]] = 'bbox', modality: dict = dict(use_camera=False, use_lidar=True), prefix: Optional[str] = None, format_only: bool = False, jsonfile_prefix: Optional[str] = None, eval_version: str = 'detection_cvpr_2019', collect_device: str = 'cpu', file_client_args: dict = dict(backend='disk') ) -> None: self.default_prefix = 'NuScenes metric' super(NuScenesMetric, self).__init__( collect_device=collect_device, prefix=prefix) if modality is None: modality = dict( use_camera=False, use_lidar=True, ) self.ann_file = ann_file self.data_root = data_root self.modality = modality self.format_only = format_only if self.format_only: assert jsonfile_prefix is not None, 'jsonfile_prefix must be ' 'not None when format_only is True, otherwise the result files ' 'will be saved to a temp directory which will be cleanup at ' 'the end.' self.jsonfile_prefix = jsonfile_prefix self.file_client_args = file_client_args self.metrics = metric if isinstance(metric, list) else [metric] self.eval_version = eval_version self.eval_detection_configs = config_factory(self.eval_version) def process(self, data_batch: dict, data_samples: Sequence[dict]) -> None: """Process one batch of data samples and predictions. The processed results should be stored in ``self.results``, which will be used to compute the metrics when all batches have been processed. Args: data_batch (dict): A batch of data from the dataloader. data_samples (Sequence[dict]): A batch of outputs from the model. """ for data_sample in data_samples: result = dict() pred_3d = data_sample['pred_instances_3d'] pred_2d = data_sample['pred_instances'] for attr_name in pred_3d: pred_3d[attr_name] = pred_3d[attr_name].to('cpu') result['pred_instances_3d'] = pred_3d for attr_name in pred_2d: pred_2d[attr_name] = pred_2d[attr_name].to('cpu') result['pred_instances'] = pred_2d sample_idx = data_sample['sample_idx'] result['sample_idx'] = sample_idx self.results.append(result) def compute_metrics(self, results: List[dict]) -> Dict[str, float]: """Compute the metrics from processed results. Args: results (List[dict]): The processed results of each batch. Returns: Dict[str, float]: The computed metrics. The keys are the names of the metrics, and the values are corresponding results. """ logger: MMLogger = MMLogger.get_current_instance() classes = self.dataset_meta['classes'] self.version = self.dataset_meta['version'] # load annotations self.data_infos = load( self.ann_file, file_client_args=self.file_client_args)['data_list'] result_dict, tmp_dir = self.format_results(results, classes, self.jsonfile_prefix) metric_dict = {} if self.format_only: logger.info('results are saved in ' f'{osp.basename(self.jsonfile_prefix)}') return metric_dict for metric in self.metrics: ap_dict = self.nus_evaluate( result_dict, classes=classes, metric=metric, logger=logger) for result in ap_dict: metric_dict[result] = ap_dict[result] if tmp_dir is not None: tmp_dir.cleanup() return metric_dict def nus_evaluate(self, result_dict: dict, metric: str = 'bbox', classes: Optional[List[str]] = None, logger: Optional[MMLogger] = None) -> Dict[str, float]: """Evaluation in Nuscenes protocol. Args: result_dict (dict): Formatted results of the dataset. metric (str): Metrics to be evaluated. Defaults to 'bbox'. classes (List[str], optional): A list of class name. Defaults to None. logger (MMLogger, optional): Logger used for printing related information during evaluation. Defaults to None. Returns: Dict[str, float]: Results of each evaluation metric. """ metric_dict = dict() for name in result_dict: print(f'Evaluating bboxes of {name}') ret_dict = self._evaluate_single( result_dict[name], classes=classes, result_name=name) metric_dict.update(ret_dict) return metric_dict def _evaluate_single( self, result_path: str, classes: Optional[List[str]] = None, result_name: str = 'pred_instances_3d') -> Dict[str, float]: """Evaluation for a single model in nuScenes protocol. Args: result_path (str): Path of the result file. classes (List[str], optional): A list of class name. Defaults to None. result_name (str): Result name in the metric prefix. Defaults to 'pred_instances_3d'. Returns: Dict[str, float]: Dictionary of evaluation details. """ from nuscenes import NuScenes from nuscenes.eval.detection.evaluate import NuScenesEval output_dir = osp.join(*osp.split(result_path)[:-1]) nusc = NuScenes( version=self.version, dataroot=self.data_root, verbose=False) eval_set_map = { 'v1.0-mini': 'mini_val', 'v1.0-trainval': 'val', } nusc_eval = NuScenesEval( nusc, config=self.eval_detection_configs, result_path=result_path, eval_set=eval_set_map[self.version], output_dir=output_dir, verbose=False) nusc_eval.main(render_curves=False) # record metrics metrics = mmengine.load(osp.join(output_dir, 'metrics_summary.json')) detail = dict() metric_prefix = f'{result_name}_NuScenes' for name in classes: for k, v in metrics['label_aps'][name].items(): val = float(f'{v:.4f}') detail[f'{metric_prefix}/{name}_AP_dist_{k}'] = val for k, v in metrics['label_tp_errors'][name].items(): val = float(f'{v:.4f}') detail[f'{metric_prefix}/{name}_{k}'] = val for k, v in metrics['tp_errors'].items(): val = float(f'{v:.4f}') detail[f'{metric_prefix}/{self.ErrNameMapping[k]}'] = val detail[f'{metric_prefix}/NDS'] = metrics['nd_score'] detail[f'{metric_prefix}/mAP'] = metrics['mean_ap'] return detail def format_results( self, results: List[dict], classes: Optional[List[str]] = None, jsonfile_prefix: Optional[str] = None ) -> Tuple[dict, Union[tempfile.TemporaryDirectory, None]]: """Format the mmdet3d results to standard NuScenes json file. Args: results (List[dict]): Testing results of the dataset. classes (List[str], optional): A list of class name. Defaults to None. jsonfile_prefix (str, optional): The prefix of json files. It includes the file path and the prefix of filename, e.g., "a/b/prefix". If not specified, a temp file will be created. Defaults to None. Returns: tuple: Returns (result_dict, tmp_dir), where `result_dict` is a dict containing the json filepaths, `tmp_dir` is the temporal directory created for saving json files when `jsonfile_prefix` is not specified. """ assert isinstance(results, list), 'results must be a list' if jsonfile_prefix is None: tmp_dir = tempfile.TemporaryDirectory() jsonfile_prefix = osp.join(tmp_dir.name, 'results') else: tmp_dir = None result_dict = dict() sample_idx_list = [result['sample_idx'] for result in results] for name in results[0]: if 'pred' in name and '3d' in name and name[0] != '_': print(f'\nFormating bboxes of {name}') results_ = [out[name] for out in results] tmp_file_ = osp.join(jsonfile_prefix, name) box_type_3d = type(results_[0]['bboxes_3d']) if box_type_3d == LiDARInstance3DBoxes: result_dict[name] = self._format_lidar_bbox( results_, sample_idx_list, classes, tmp_file_) elif box_type_3d == CameraInstance3DBoxes: result_dict[name] = self._format_camera_bbox( results_, sample_idx_list, classes, tmp_file_) return result_dict, tmp_dir def get_attr_name(self, attr_idx: int, label_name: str) -> str: """Get attribute from predicted index. This is a workaround to predict attribute when the predicted velocity is not reliable. We map the predicted attribute index to the one in the attribute set. If it is consistent with the category, we will keep it. Otherwise, we will use the default attribute. Args: attr_idx (int): Attribute index. label_name (str): Predicted category name. Returns: str: Predicted attribute name. """ # TODO: Simplify the variable name AttrMapping_rev2 = [ 'cycle.with_rider', 'cycle.without_rider', 'pedestrian.moving', 'pedestrian.standing', 'pedestrian.sitting_lying_down', 'vehicle.moving', 'vehicle.parked', 'vehicle.stopped', 'None' ] if label_name == 'car' or label_name == 'bus' \ or label_name == 'truck' or label_name == 'trailer' \ or label_name == 'construction_vehicle': if AttrMapping_rev2[attr_idx] == 'vehicle.moving' or \ AttrMapping_rev2[attr_idx] == 'vehicle.parked' or \ AttrMapping_rev2[attr_idx] == 'vehicle.stopped': return AttrMapping_rev2[attr_idx] else: return self.DefaultAttribute[label_name] elif label_name == 'pedestrian': if AttrMapping_rev2[attr_idx] == 'pedestrian.moving' or \ AttrMapping_rev2[attr_idx] == 'pedestrian.standing' or \ AttrMapping_rev2[attr_idx] == \ 'pedestrian.sitting_lying_down': return AttrMapping_rev2[attr_idx] else: return self.DefaultAttribute[label_name] elif label_name == 'bicycle' or label_name == 'motorcycle': if AttrMapping_rev2[attr_idx] == 'cycle.with_rider' or \ AttrMapping_rev2[attr_idx] == 'cycle.without_rider': return AttrMapping_rev2[attr_idx] else: return self.DefaultAttribute[label_name] else: return self.DefaultAttribute[label_name] def _format_camera_bbox(self, results: List[dict], sample_idx_list: List[int], classes: Optional[List[str]] = None, jsonfile_prefix: Optional[str] = None) -> str: """Convert the results to the standard format. Args: results (List[dict]): Testing results of the dataset. sample_idx_list (List[int]): List of result sample idx. classes (List[str], optional): A list of class name. Defaults to None. jsonfile_prefix (str, optional): The prefix of the output jsonfile. You can specify the output directory/filename by modifying the jsonfile_prefix. Defaults to None. Returns: str: Path of the output json file. """ nusc_annos = {} print('Start to convert detection format...') # Camera types in Nuscenes datasets camera_types = [ 'CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_FRONT_LEFT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_BACK_RIGHT', ] CAM_NUM = 6 for i, det in enumerate(mmengine.track_iter_progress(results)): sample_idx = sample_idx_list[i] frame_sample_idx = sample_idx // CAM_NUM camera_type_id = sample_idx % CAM_NUM if camera_type_id == 0: boxes_per_frame = [] attrs_per_frame = [] # need to merge results from images of the same sample annos = [] boxes, attrs = output_to_nusc_box(det) sample_token = self.data_infos[frame_sample_idx]['token'] camera_type = camera_types[camera_type_id] boxes, attrs = cam_nusc_box_to_global( self.data_infos[frame_sample_idx], boxes, attrs, classes, self.eval_detection_configs, camera_type) boxes_per_frame.extend(boxes) attrs_per_frame.extend(attrs) # Remove redundant predictions caused by overlap of images if (sample_idx + 1) % CAM_NUM != 0: continue boxes = global_nusc_box_to_cam(self.data_infos[frame_sample_idx], boxes_per_frame, classes, self.eval_detection_configs) cam_boxes3d, scores, labels = nusc_box_to_cam_box3d(boxes) # box nms 3d over 6 images in a frame # TODO: move this global setting into config nms_cfg = dict( use_rotate_nms=True, nms_across_levels=False, nms_pre=4096, nms_thr=0.05, score_thr=0.01, min_bbox_size=0, max_per_frame=500) nms_cfg = Config(nms_cfg) cam_boxes3d_for_nms = xywhr2xyxyr(cam_boxes3d.bev) boxes3d = cam_boxes3d.tensor # generate attr scores from attr labels attrs = labels.new_tensor([attr for attr in attrs_per_frame]) boxes3d, scores, labels, attrs = box3d_multiclass_nms( boxes3d, cam_boxes3d_for_nms, scores, nms_cfg.score_thr, nms_cfg.max_per_frame, nms_cfg, mlvl_attr_scores=attrs) cam_boxes3d = CameraInstance3DBoxes(boxes3d, box_dim=9) det = bbox3d2result(cam_boxes3d, scores, labels, attrs) boxes, attrs = output_to_nusc_box(det) boxes, attrs = cam_nusc_box_to_global( self.data_infos[frame_sample_idx], boxes, attrs, classes, self.eval_detection_configs) for i, box in enumerate(boxes): name = classes[box.label] attr = self.get_attr_name(attrs[i], name) nusc_anno = dict( sample_token=sample_token, translation=box.center.tolist(), size=box.wlh.tolist(), rotation=box.orientation.elements.tolist(), velocity=box.velocity[:2].tolist(), detection_name=name, detection_score=box.score, attribute_name=attr) annos.append(nusc_anno) # other views results of the same frame should be concatenated if sample_token in nusc_annos: nusc_annos[sample_token].extend(annos) else: nusc_annos[sample_token] = annos nusc_submissions = { 'meta': self.modality, 'results': nusc_annos, } mmengine.mkdir_or_exist(jsonfile_prefix) res_path = osp.join(jsonfile_prefix, 'results_nusc.json') print(f'Results writes to {res_path}') mmengine.dump(nusc_submissions, res_path) return res_path def _format_lidar_bbox(self, results: List[dict], sample_idx_list: List[int], classes: Optional[List[str]] = None, jsonfile_prefix: Optional[str] = None) -> str: """Convert the results to the standard format. Args: results (List[dict]): Testing results of the dataset. sample_idx_list (List[int]): List of result sample idx. classes (List[str], optional): A list of class name. Defaults to None. jsonfile_prefix (str, optional): The prefix of the output jsonfile. You can specify the output directory/filename by modifying the jsonfile_prefix. Defaults to None. Returns: str: Path of the output json file. """ nusc_annos = {} print('Start to convert detection format...') for i, det in enumerate(mmengine.track_iter_progress(results)): annos = [] boxes, attrs = output_to_nusc_box(det) sample_idx = sample_idx_list[i] sample_token = self.data_infos[sample_idx]['token'] boxes = lidar_nusc_box_to_global(self.data_infos[sample_idx], boxes, classes, self.eval_detection_configs) for i, box in enumerate(boxes): name = classes[box.label] if np.sqrt(box.velocity[0]**2 + box.velocity[1]**2) > 0.2: if name in [ 'car', 'construction_vehicle', 'bus', 'truck', 'trailer', ]: attr = 'vehicle.moving' elif name in ['bicycle', 'motorcycle']: attr = 'cycle.with_rider' else: attr = self.DefaultAttribute[name] else: if name in ['pedestrian']: attr = 'pedestrian.standing' elif name in ['bus']: attr = 'vehicle.stopped' else: attr = self.DefaultAttribute[name] nusc_anno = dict( sample_token=sample_token, translation=box.center.tolist(), size=box.wlh.tolist(), rotation=box.orientation.elements.tolist(), velocity=box.velocity[:2].tolist(), detection_name=name, detection_score=box.score, attribute_name=attr) annos.append(nusc_anno) nusc_annos[sample_token] = annos nusc_submissions = { 'meta': self.modality, 'results': nusc_annos, } mmengine.mkdir_or_exist(jsonfile_prefix) res_path = osp.join(jsonfile_prefix, 'results_nusc.json') print(f'Results writes to {res_path}') mmengine.dump(nusc_submissions, res_path) return res_path def output_to_nusc_box( detection: dict) -> Tuple[List[NuScenesBox], Union[np.ndarray, None]]: """Convert the output to the box class in the nuScenes. Args: detection (dict): Detection results. - bboxes_3d (:obj:`BaseInstance3DBoxes`): Detection bbox. - scores_3d (torch.Tensor): Detection scores. - labels_3d (torch.Tensor): Predicted box labels. Returns: Tuple[List[:obj:`NuScenesBox`], np.ndarray or None]: List of standard NuScenesBoxes and attribute labels. """ bbox3d = detection['bboxes_3d'] scores = detection['scores_3d'].numpy() labels = detection['labels_3d'].numpy() attrs = None if 'attr_labels' in detection: attrs = detection['attr_labels'].numpy() box_gravity_center = bbox3d.gravity_center.numpy() box_dims = bbox3d.dims.numpy() box_yaw = bbox3d.yaw.numpy() box_list = [] if isinstance(bbox3d, LiDARInstance3DBoxes): # our LiDAR coordinate system -> nuScenes box coordinate system nus_box_dims = box_dims[:, [1, 0, 2]] for i in range(len(bbox3d)): quat = pyquaternion.Quaternion(axis=[0, 0, 1], radians=box_yaw[i]) velocity = (*bbox3d.tensor[i, 7:9], 0.0) # velo_val = np.linalg.norm(box3d[i, 7:9]) # velo_ori = box3d[i, 6] # velocity = ( # velo_val * np.cos(velo_ori), velo_val * np.sin(velo_ori), 0.0) box = NuScenesBox( box_gravity_center[i], nus_box_dims[i], quat, label=labels[i], score=scores[i], velocity=velocity) box_list.append(box) elif isinstance(bbox3d, CameraInstance3DBoxes): # our Camera coordinate system -> nuScenes box coordinate system # convert the dim/rot to nuscbox convention nus_box_dims = box_dims[:, [2, 0, 1]] nus_box_yaw = -box_yaw for i in range(len(bbox3d)): q1 = pyquaternion.Quaternion( axis=[0, 0, 1], radians=nus_box_yaw[i]) q2 = pyquaternion.Quaternion(axis=[1, 0, 0], radians=np.pi / 2) quat = q2 * q1 velocity = (bbox3d.tensor[i, 7], 0.0, bbox3d.tensor[i, 8]) box = NuScenesBox( box_gravity_center[i], nus_box_dims[i], quat, label=labels[i], score=scores[i], velocity=velocity) box_list.append(box) else: raise NotImplementedError( f'Do not support convert {type(bbox3d)} bboxes ' 'to standard NuScenesBoxes.') return box_list, attrs def lidar_nusc_box_to_global( info: dict, boxes: List[NuScenesBox], classes: List[str], eval_configs: DetectionConfig) -> List[NuScenesBox]: """Convert the box from ego to global coordinate. Args: info (dict): Info for a specific sample data, including the calibration information. boxes (List[:obj:`NuScenesBox`]): List of predicted NuScenesBoxes. classes (List[str]): Mapped classes in the evaluation. eval_configs (:obj:`DetectionConfig`): Evaluation configuration object. Returns: List[:obj:`DetectionConfig`]: List of standard NuScenesBoxes in the global coordinate. """ box_list = [] for box in boxes: # Move box to ego vehicle coord system lidar2ego = np.array(info['lidar_points']['lidar2ego']) box.rotate( pyquaternion.Quaternion(matrix=lidar2ego, rtol=1e-05, atol=1e-07)) box.translate(lidar2ego[:3, 3]) # filter det in ego. cls_range_map = eval_configs.class_range radius = np.linalg.norm(box.center[:2], 2) det_range = cls_range_map[classes[box.label]] if radius > det_range: continue # Move box to global coord system ego2global = np.array(info['ego2global']) box.rotate( pyquaternion.Quaternion(matrix=ego2global, rtol=1e-05, atol=1e-07)) box.translate(ego2global[:3, 3]) box_list.append(box) return box_list def cam_nusc_box_to_global( info: dict, boxes: List[NuScenesBox], attrs: np.ndarray, classes: List[str], eval_configs: DetectionConfig, camera_type: str = 'CAM_FRONT', ) -> Tuple[List[NuScenesBox], List[int]]: """Convert the box from camera to global coordinate. Args: info (dict): Info for a specific sample data, including the calibration information. boxes (List[:obj:`NuScenesBox`]): List of predicted NuScenesBoxes. attrs (np.ndarray): Predicted attributes. classes (List[str]): Mapped classes in the evaluation. eval_configs (:obj:`DetectionConfig`): Evaluation configuration object. camera_type (str): Type of camera. Defaults to 'CAM_FRONT'. Returns: Tuple[List[:obj:`NuScenesBox`], List[int]]: List of standard NuScenesBoxes in the global coordinate and attribute label. """ box_list = [] attr_list = [] for (box, attr) in zip(boxes, attrs): # Move box to ego vehicle coord system cam2ego = np.array(info['images'][camera_type]['cam2ego']) box.rotate( pyquaternion.Quaternion(matrix=cam2ego, rtol=1e-05, atol=1e-07)) box.translate(cam2ego[:3, 3]) # filter det in ego. cls_range_map = eval_configs.class_range radius = np.linalg.norm(box.center[:2], 2) det_range = cls_range_map[classes[box.label]] if radius > det_range: continue # Move box to global coord system ego2global = np.array(info['ego2global']) box.rotate( pyquaternion.Quaternion(matrix=ego2global, rtol=1e-05, atol=1e-07)) box.translate(ego2global[:3, 3]) box_list.append(box) attr_list.append(attr) return box_list, attr_list def global_nusc_box_to_cam(info: dict, boxes: List[NuScenesBox], classes: List[str], eval_configs: DetectionConfig) -> List[NuScenesBox]: """Convert the box from global to camera coordinate. Args: info (dict): Info for a specific sample data, including the calibration information. boxes (List[:obj:`NuScenesBox`]): List of predicted NuScenesBoxes. classes (List[str]): Mapped classes in the evaluation. eval_configs (:obj:`DetectionConfig`): Evaluation configuration object. Returns: List[:obj:`NuScenesBox`]: List of standard NuScenesBoxes in camera coordinate. """ box_list = [] for box in boxes: # Move box to ego vehicle coord system ego2global = np.array(info['ego2global']) box.translate(-ego2global[:3, 3]) box.rotate( pyquaternion.Quaternion(matrix=ego2global, rtol=1e-05, atol=1e-07).inverse) # filter det in ego. cls_range_map = eval_configs.class_range radius = np.linalg.norm(box.center[:2], 2) det_range = cls_range_map[classes[box.label]] if radius > det_range: continue # Move box to camera coord system cam2ego = np.array(info['images']['CAM_FRONT']['cam2ego']) box.translate(-cam2ego[:3, 3]) box.rotate( pyquaternion.Quaternion(matrix=cam2ego, rtol=1e-05, atol=1e-07).inverse) box_list.append(box) return box_list def nusc_box_to_cam_box3d( boxes: List[NuScenesBox] ) -> Tuple[CameraInstance3DBoxes, torch.Tensor, torch.Tensor]: """Convert boxes from :obj:`NuScenesBox` to :obj:`CameraInstance3DBoxes`. Args: boxes (:obj:`List[NuScenesBox]`): List of predicted NuScenesBoxes. Returns: Tuple[:obj:`CameraInstance3DBoxes`, torch.Tensor, torch.Tensor]: Converted 3D bounding boxes, scores and labels. """ locs = torch.Tensor([b.center for b in boxes]).view(-1, 3) dims = torch.Tensor([b.wlh for b in boxes]).view(-1, 3) rots = torch.Tensor([b.orientation.yaw_pitch_roll[0] for b in boxes]).view(-1, 1) velocity = torch.Tensor([b.velocity[0::2] for b in boxes]).view(-1, 2) # convert nusbox to cambox convention dims[:, [0, 1, 2]] = dims[:, [1, 2, 0]] rots = -rots boxes_3d = torch.cat([locs, dims, rots, velocity], dim=1).cuda() cam_boxes3d = CameraInstance3DBoxes( boxes_3d, box_dim=9, origin=(0.5, 0.5, 0.5)) scores = torch.Tensor([b.score for b in boxes]).cuda() labels = torch.LongTensor([b.label for b in boxes]).cuda() nms_scores = scores.new_zeros(scores.shape[0], 10 + 1) indices = labels.new_tensor(list(range(scores.shape[0]))) nms_scores[indices, labels] = scores return cam_boxes3d, nms_scores, labels