slight modification for lyft (#863)

docs/GETTING_STARTED.md

@@ -108,7 +108,9 @@ OpenPCDet
 │   ├── lyft
 │   │   │── ImageSets
 │   │   │── trainval
-│   │   │   │── data & maps & images & lidar & train_lidar
+│   │   │   │── data & maps(train_maps) & images(train_images) & lidar(train_lidar) & train_lidar
+│   │   │── test
+│   │   │   │── data & maps(test_maps) & test_images & test_lidar
 ├── pcdet
 ├── tools
 ```
@@ -118,11 +120,16 @@ OpenPCDet
 pip install -U lyft_dataset_sdk==0.0.8
 ```
 
-* Generate the data infos by running the following command (it may take several hours): 
+* Generate the training & validation data infos by running the following command (it may take several hours): 
 ```python 
 python -m pcdet.datasets.lyft.lyft_dataset --func create_lyft_infos \
     --cfg_file tools/cfgs/dataset_configs/lyft_dataset.yaml
 ```
+* Generate the test data infos by running the following command: 
+```python 
+python -m pcdet.datasets.lyft.lyft_dataset --func create_lyft_infos \
+    --cfg_file tools/cfgs/dataset_configs/lyft_dataset.yaml --version test
+```
 
 * You need to check carefully since we don't provide a benchmark for it.
 

pcdet/datasets/lyft/lyft_dataset.py

@@ -276,7 +276,7 @@ def create_lyft_info(version, data_path, save_path, split, max_sweeps=10):
         raise NotImplementedError
 
     train_scenes = [x.strip() for x in open(train_split_path).readlines()] if train_split_path.exists() else []
-    val_scenes = [x.strip() for x in open(val_split_path).readlines()] if val_split_path.exists() else []
+    val_scenes = [x.strip() for x in open(val_split_path).readlines()] if val_split_path is not None and val_split_path.exists() else []
 
     lyft = LyftDataset(json_path=data_path / 'data', data_path=data_path, verbose=True)
 
@@ -342,4 +342,6 @@ if __name__ == '__main__':
             root_path=ROOT_DIR / 'data' / 'lyft',
             logger=common_utils.create_logger(), training=True
         )
-        lyft_dataset.create_groundtruth_database(max_sweeps=dataset_cfg.MAX_SWEEPS)
+
+        if args.version != 'test':
+            lyft_dataset.create_groundtruth_database(max_sweeps=dataset_cfg.MAX_SWEEPS)