Update database_sampler.py

pcdet/datasets/augmentor/database_sampler.py

@@ -9,7 +9,7 @@ import SharedArray
 import torch.distributed as dist
 
 from ...ops.iou3d_nms import iou3d_nms_utils
-from ...utils import box_utils, common_utils, calibration_kitti
+from ...utils import box_utils, common_utils, box2d_utils, calibration_kitti
 from pcdet.datasets.kitti.kitti_object_eval_python import kitti_common
 
 class DataBaseSampler(object):
@@ -18,11 +18,13 @@ class DataBaseSampler(object):
         self.class_names = class_names
         self.sampler_cfg = sampler_cfg
         self.aug_with_img = sampler_cfg.get('AUG_WITH_IMAGE', False)
-        self.joint_sample = sampler_cfg.get('JOINT_SAMPLE', False)
-        self.keep_raw =  sampler_cfg.get('KEEP_RAW', False)
-        self.box_iou_thres = sampler_cfg.get('BOX_IOU_THRES', 1.0)
-        self.aug_use_type = sampler_cfg.get('AUG_USE_TYPE', 'annotation')
-        self.point_refine = sampler_cfg.get('POINT_REFINE', False)
+        self.joint_sample = True
+        self.keep_raw =  False
+        self.box_iou_thres = 0.5
+        self.img_aug_type = 'by_depth'
+        self.aug_use_type = 'annotation'
+        self.point_refine = True
+        self.img_root_path = 'training/image_2'
 
         self.logger = logger
         self.db_infos = {}
@@ -167,14 +169,13 @@ class DataBaseSampler(object):
         boxes3d = data_dict['gt_boxes']
         boxes2d = data_dict['gt_boxes2d']
         corners_lidar = box_utils.boxes_to_corners_3d(boxes3d)
-        img_aug_type = self.sampler_cfg.IMG_AUG_TYPE
-        if 'depth' in img_aug_type:
+        if 'depth' in self.img_aug_type:
             paste_order = boxes3d[:,0].argsort()
             paste_order = paste_order[::-1]
         else:
             paste_order = np.arange(len(boxes3d),dtype=np.int)
 
-        if 'reverse' in img_aug_type:
+        if 'reverse' in self.img_aug_type:
             paste_order = paste_order[::-1]
 
         paste_mask = -255 * np.ones(image.shape[:2], dtype=np.int)
@@ -252,7 +253,7 @@ class DataBaseSampler(object):
         obj_idx = idx * np.ones(len(obj_points), dtype=np.int)
 
         # copy crops from images
-        img_path = self.root_path / self.sampler_cfg.IMG_ROOT_PATH / (info['image_idx']+'.png')
+        img_path = self.root_path / self.img_root_path / (info['image_idx']+'.png')
         raw_image = io.imread(img_path)
         raw_image = raw_image.astype(np.float32)
         raw_center = info['bbox'].reshape(2,2).mean(0)
@@ -283,8 +284,8 @@ class DataBaseSampler(object):
                                                                         data_dict['images'].shape[:2])
         sampled_boxes2d = torch.Tensor(sampled_boxes2d)
         existed_boxes2d = torch.Tensor(data_dict['gt_boxes2d'])
-        iou2d1 = box_utils.pairwise_iou(sampled_boxes2d, existed_boxes2d).cpu().numpy()
-        iou2d2 = box_utils.pairwise_iou(sampled_boxes2d, sampled_boxes2d).cpu().numpy()
+        iou2d1 = box2d_utils.pairwise_iou(sampled_boxes2d, existed_boxes2d).cpu().numpy()
+        iou2d2 = box2d_utils.pairwise_iou(sampled_boxes2d, sampled_boxes2d).cpu().numpy()
         iou2d2[range(sampled_boxes2d.shape[0]), range(sampled_boxes2d.shape[0])] = 0
         iou2d1 = iou2d1 if iou2d1.shape[1] > 0 else iou2d2
 
@@ -394,7 +395,8 @@ class DataBaseSampler(object):
 
                 sampled_boxes = np.stack([x['box3d_lidar'] for x in sampled_dict], axis=0).astype(np.float32)
 
-                assert not self.sampler_cfg.get('DATABASE_WITH_FAKELIDAR', False), 'Please use latest codes to generate GT_DATABASE'
+                if self.sampler_cfg.get('DATABASE_WITH_FAKELIDAR', False):
+                    sampled_boxes = box_utils.boxes3d_kitti_fakelidar_to_lidar(sampled_boxes)
 
                 iou1 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes[:, 0:7], existed_boxes[:, 0:7])
                 iou2 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes[:, 0:7], sampled_boxes[:, 0:7])
@@ -417,13 +419,16 @@ class DataBaseSampler(object):
 
         sampled_gt_boxes = existed_boxes[gt_boxes.shape[0]:, :]
 
+        if self.aug_with_img:
             if len(sampled_gt_boxes2d) > 0:
                 sampled_gt_boxes2d = np.concatenate(sampled_gt_boxes2d, axis=0)
 
         if total_valid_sampled_dict.__len__() > 0:
-            data_dict = self.add_sampled_boxes_to_scene(
-                data_dict, sampled_gt_boxes, total_valid_sampled_dict, sampled_mv_height, sampled_gt_boxes2d
-            )
+            data_dict = self.add_sampled_boxes_to_scene(data_dict,
+                                                        sampled_gt_boxes,
+                                                        total_valid_sampled_dict,
+                                                        sampled_mv_height,
+                                                        sampled_gt_boxes2d)
 
         data_dict.pop('gt_boxes_mask')
         return data_dict