update the function of random_world_translation

pcdet/datasets/augmentor/augmentor_utils.py

@@ -126,60 +126,6 @@ def random_image_flip_horizontal(image, depth_map, gt_boxes, calib):
     return aug_image, aug_depth_map, aug_gt_boxes
 
 
-def random_translation_along_x(gt_boxes, points, offset_std):
-    """
-    Args:
-        gt_boxes: (N, 7), [x, y, z, dx, dy, dz, heading, [vx], [vy]]
-        points: (M, 3 + C),
-        offset_std: float
-    Returns:
-    """
-    offset = np.random.normal(0, offset_std, 1)
-
-    points[:, 0] += offset
-    gt_boxes[:, 0] += offset
-    
-    # if gt_boxes.shape[1] > 7:
-    #     gt_boxes[:, 7] += offset
-    
-    return gt_boxes, points
-
-
-def random_translation_along_y(gt_boxes, points, offset_std):
-    """
-    Args:
-        gt_boxes: (N, 7), [x, y, z, dx, dy, dz, heading, [vx], [vy]]
-        points: (M, 3 + C),
-        offset_std: float
-    Returns:
-    """
-    offset = np.random.normal(0, offset_std, 1)
-
-    points[:, 1] += offset
-    gt_boxes[:, 1] += offset
-    
-    # if gt_boxes.shape[1] > 8:
-    #     gt_boxes[:, 8] += offset
-    
-    return gt_boxes, points
-
-
-def random_translation_along_z(gt_boxes, points, offset_std):
-    """
-    Args:
-        gt_boxes: (N, 7), [x, y, z, dx, dy, dz, heading, [vx], [vy]]
-        points: (M, 3 + C),
-        offset_std: float
-    Returns:
-    """
-    offset = np.random.normal(0, offset_std, 1)
-    
-    points[:, 2] += offset
-    gt_boxes[:, 2] += offset
-
-    return gt_boxes, points
-
-
 def random_local_translation_along_x(gt_boxes, points, offset_range):
     """
     Args:

pcdet/datasets/augmentor/data_augmentor.py

@@ -105,15 +105,16 @@ class DataAugmentor(object):
         if data_dict is None:
             return partial(self.random_world_translation, config=config)
         noise_translate_std = config['NOISE_TRANSLATE_STD']
-        if noise_translate_std == 0:
-            return data_dict
-        gt_boxes, points = data_dict['gt_boxes'], data_dict['points']
-        for cur_axis in config['ALONG_AXIS_LIST']:
-            assert cur_axis in ['x', 'y', 'z']
-            gt_boxes, points = getattr(augmentor_utils, 'random_translation_along_%s' % cur_axis)(
-                gt_boxes, points, noise_translate_std,
-            )
+        assert len(noise_translate_std) == 3
+        noise_translate = np.array([
+            np.random.normal(0, noise_translate_std[0], 1),
+            np.random.normal(0, noise_translate_std[1], 1),
+            np.random.normal(0, noise_translate_std[2], 1),
+        ], dtype=np.float32).T
 
+        gt_boxes, points = data_dict['gt_boxes'], data_dict['points']
+        points[:, :3] += noise_translate
+        gt_boxes[:, :3] += noise_translate
         data_dict['gt_boxes'] = gt_boxes
         data_dict['points'] = points
         return data_dict

tools/cfgs/kitti_models/pointpillar_newaugs.yaml

@@ -54,8 +54,7 @@ DATA_CONFIG:
               WORLD_SCALE_RANGE: [0.95, 1.05]
 
             - NAME: random_world_translation
-              WORLD_TRANSLATION_RANGE: [ -0.2, 0.2 ]
-              ALONG_AXIS_LIST: ['x', 'y', 'z']
+              NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
 
             - NAME: random_local_translation
               LOCAL_TRANSLATION_RANGE: [0.95, 1.05]

tools/cfgs/nuscenes_models/cbgs_voxel0075_res3d_centerpoint.yaml

@@ -38,8 +38,7 @@ DATA_CONFIG:
               WORLD_SCALE_RANGE: [0.9, 1.1]
             
             - NAME: random_world_translation
-              NOISE_TRANSLATE_STD: 0.5
-              ALONG_AXIS_LIST: ['x', 'y', 'z']
+              NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
 
 
     DATA_PROCESSOR: