support DISABLE_AUG_LIST config for using --set disable augs (#122)

pcdet/datasets/augmentor/data_augmentor.py

@@ -11,10 +11,16 @@ class DataAugmentor(object):
         self.logger = logger
 
         self.data_augmentor_queue = []
-        for cur_cfg in augmentor_configs:
+        aug_config_list = augmentor_configs if isinstance(augmentor_configs, list) \
+            else augmentor_configs.AUG_CONFIG_LIST
+
+        for cur_cfg in aug_config_list:
+            if not isinstance(augmentor_configs, list):
+                if cur_cfg.NAME in augmentor_configs.DISABLE_AUG_LIST:
+                    continue
             cur_augmentor = getattr(self, cur_cfg.NAME)(config=cur_cfg)
-            self.data_augmentor_queue.append(cur_augmentor)       
- 
+            self.data_augmentor_queue.append(cur_augmentor)
+
     def gt_sampling(self, config=None):
         db_sampler = database_sampler.DataBaseSampler(
             root_path=self.root_path,

tools/cfgs/dataset_configs/kitti_dataset.yaml

@@ -17,29 +17,31 @@ FOV_POINTS_ONLY: True
 
 
 DATA_AUGMENTOR:
-    - NAME: gt_sampling
-      USE_ROAD_PLANE: True
-      DB_INFO_PATH:
-          - kitti_dbinfos_train.pkl
-      PREPARE: {
-         filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
-         filter_by_difficulty: [-1],
-      }
-
-      SAMPLE_GROUPS: ['Car:20','Pedestrian:15', 'Cyclist:15']
-      NUM_POINT_FEATURES: 4
-      DATABASE_WITH_FAKELIDAR: False 
-      REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
-      LIMIT_WHOLE_SCENE: True
-
-    - NAME: random_world_flip
-      ALONG_AXIS_LIST: ['x']
-
-    - NAME: random_world_rotation
-      WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
-
-    - NAME: random_world_scaling
-      WORLD_SCALE_RANGE: [0.95, 1.05]
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+        - NAME: gt_sampling
+          USE_ROAD_PLANE: True
+          DB_INFO_PATH:
+              - kitti_dbinfos_train.pkl
+          PREPARE: {
+             filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
+             filter_by_difficulty: [-1],
+          }
+
+          SAMPLE_GROUPS: ['Car:20','Pedestrian:15', 'Cyclist:15']
+          NUM_POINT_FEATURES: 4
+          DATABASE_WITH_FAKELIDAR: False
+          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+          LIMIT_WHOLE_SCENE: True
+
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: ['x']
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [0.95, 1.05]
 
 
 POINT_FEATURE_ENCODING: {

tools/cfgs/kitti_models/pointpillar.yaml

@@ -21,29 +21,31 @@ DATA_CONFIG:
             'test': 40000
           }
     DATA_AUGMENTOR:
-        - NAME: gt_sampling
-          USE_ROAD_PLANE: True
-          DB_INFO_PATH:
-              - kitti_dbinfos_train.pkl
-          PREPARE: {
-             filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
-             filter_by_difficulty: [-1],
-          }
-
-          SAMPLE_GROUPS: ['Car:15','Pedestrian:15', 'Cyclist:15']
-          NUM_POINT_FEATURES: 4
-          DATABASE_WITH_FAKELIDAR: False
-          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
-          LIMIT_WHOLE_SCENE: False
-
-        - NAME: random_world_flip
-          ALONG_AXIS_LIST: ['x']
-
-        - NAME: random_world_rotation
-          WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
-
-        - NAME: random_world_scaling
-          WORLD_SCALE_RANGE: [0.95, 1.05]
+        DISABLE_AUG_LIST: ['placeholder']
+        AUG_CONFIG_LIST:
+            - NAME: gt_sampling
+              USE_ROAD_PLANE: True
+              DB_INFO_PATH:
+                  - kitti_dbinfos_train.pkl
+              PREPARE: {
+                 filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
+                 filter_by_difficulty: [-1],
+              }
+
+              SAMPLE_GROUPS: ['Car:15','Pedestrian:15', 'Cyclist:15']
+              NUM_POINT_FEATURES: 4
+              DATABASE_WITH_FAKELIDAR: False
+              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+              LIMIT_WHOLE_SCENE: False
+
+            - NAME: random_world_flip
+              ALONG_AXIS_LIST: ['x']
+
+            - NAME: random_world_rotation
+              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
+
+            - NAME: random_world_scaling
+              WORLD_SCALE_RANGE: [0.95, 1.05]
 
 MODEL:
     NAME: PointPillar

tools/cfgs/kitti_models/pv_rcnn.yaml

@@ -3,29 +3,31 @@ CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
 DATA_CONFIG:
     _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
     DATA_AUGMENTOR:
-        - NAME: gt_sampling
-          USE_ROAD_PLANE: True
-          DB_INFO_PATH:
-              - kitti_dbinfos_train.pkl
-          PREPARE: {
-             filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
-             filter_by_difficulty: [-1],
-          }
-
-          SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
-          NUM_POINT_FEATURES: 4
-          DATABASE_WITH_FAKELIDAR: False 
-          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
-          LIMIT_WHOLE_SCENE: False
-
-        - NAME: random_world_flip
-          ALONG_AXIS_LIST: ['x']
-
-        - NAME: random_world_rotation
-          WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
-
-        - NAME: random_world_scaling
-          WORLD_SCALE_RANGE: [0.95, 1.05]
+        DISABLE_AUG_LIST: ['placeholder']
+        AUG_CONFIG_LIST:
+            - NAME: gt_sampling
+              USE_ROAD_PLANE: True
+              DB_INFO_PATH:
+                  - kitti_dbinfos_train.pkl
+              PREPARE: {
+                 filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
+                 filter_by_difficulty: [-1],
+              }
+
+              SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
+              NUM_POINT_FEATURES: 4
+              DATABASE_WITH_FAKELIDAR: False
+              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+              LIMIT_WHOLE_SCENE: False
+
+            - NAME: random_world_flip
+              ALONG_AXIS_LIST: ['x']
+
+            - NAME: random_world_rotation
+              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
+
+            - NAME: random_world_scaling
+              WORLD_SCALE_RANGE: [0.95, 1.05]
 
 MODEL:
     NAME: PVRCNN