Update database_sampler.py

pcdet/datasets/augmentor/database_sampler.py

@@ -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)