fix small bugs

open-mmlab · May 7, 2021 · 14e6e08 · 14e6e08
1 parent bebbc2b
commit 14e6e08
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Showing 6 changed files with 7 additions and 46 deletions.
diff --git a/configs/_base_/datasets/scannet-3d-18class.py b/configs/_base_/datasets/scannet-3d-18class.py
@@ -5,8 +5,6 @@
  'bookshelf', 'picture', 'counter', 'desk', 'curtain',
  'refrigerator', 'showercurtrain', 'toilet', 'sink', 'bathtub',
  'garbagebin')
-valid_class_ids = (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33, 34, 36,
- 39)
 train_pipeline = [
  dict(
  type='LoadPointsFromFile',
@@ -79,26 +77,19 @@
 ]
 # construct a pipeline for data and gt loading in show function
 # please keep its loading function consistent with test_pipeline (e.g. client)
-# we need to load gt masks for aligned gt bbox extracting
 eval_pipeline = [
  dict(
  type='LoadPointsFromFile',
  coord_type='DEPTH',
  shift_height=False,
  load_dim=6,
  use_dim=[0, 1, 2]),
- dict(
- type='LoadAnnotations3D',
- with_bbox_3d=True,
- with_label_3d=True,
- with_mask_3d=False,
- with_seg_3d=False),
  dict(type='GlobalAlignment', rotation_axis=2),
  dict(
  type='DefaultFormatBundle3D',
  class_names=class_names,
  with_label=False),
- dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
+ dict(type='Collect3D', keys=['points'])
 ]
 
 data = dict(

diff --git a/mmdet3d/core/visualizer/show_result.py b/mmdet3d/core/visualizer/show_result.py
@@ -61,10 +61,7 @@ def convert_oriented_box_to_trimesh_fmt(box):
  scene_bbox = np.zeros((1, 7))
  scene = trimesh.scene.Scene()
  for box in scene_bbox:
- try:
- scene.add_geometry(convert_oriented_box_to_trimesh_fmt(box))
- except ValueError: # invalid box shape, e.g. width==0
- continue
+ scene.add_geometry(convert_oriented_box_to_trimesh_fmt(box))
 
  mesh_list = trimesh.util.concatenate(scene.dump())
  # save to obj file

diff --git a/mmdet3d/datasets/__init__.py b/mmdet3d/datasets/__init__.py
@@ -27,8 +27,7 @@
  'DATASETS', 'build_dataset', 'CocoDataset', 'NuScenesDataset',
  'NuScenesMonoDataset', 'LyftDataset', 'ObjectSample', 'RandomFlip3D',
  'ObjectNoise', 'GlobalRotScaleTrans', 'PointShuffle', 'ObjectRangeFilter',
- 'PointsRangeFilter', 'Collect3D', 'LoadPointsFromFile',
- 'S3DISSegDataset',
+ 'PointsRangeFilter', 'Collect3D', 'LoadPointsFromFile', 'S3DISSegDataset',
  'NormalizePointsColor', 'IndoorPatchPointSample', 'IndoorPointSample',
  'LoadAnnotations3D', 'GlobalAlignment', 'SUNRGBDDataset', 'ScanNetDataset',
  'ScanNetSegDataset', 'SemanticKITTIDataset', 'Custom3DDataset',

diff --git a/mmdet3d/datasets/scannet_dataset.py b/mmdet3d/datasets/scannet_dataset.py
@@ -163,20 +163,12 @@ def _build_default_pipeline(self):
  shift_height=False,
  load_dim=6,
  use_dim=[0, 1, 2]),
- dict(
- type='LoadAnnotations3D',
- with_bbox_3d=True,
- with_label_3d=True,
- with_mask_3d=False,
- with_seg_3d=False),
  dict(type='GlobalAlignment', rotation_axis=2),
  dict(
  type='DefaultFormatBundle3D',
  class_names=self.CLASSES,
  with_label=False),
- dict(
- type='Collect3D',
- keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
+ dict(type='Collect3D', keys=['points'])
  ]
  return Compose(pipeline)
 
@@ -196,8 +188,7 @@ def show(self, results, out_dir, show=True, pipeline=None):
  data_info = self.data_infos[i]
  pts_path = data_info['pts_path']
  file_name = osp.split(pts_path)[-1].split('.')[0]
- points = self._extract_data(
- i, pipeline, 'points', load_annos=True).numpy()
+ points = self._extract_data(i, pipeline, 'points').numpy()
  gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d'].tensor.numpy()
  pred_bboxes = result['boxes_3d'].tensor.numpy()
  show_result(points, gt_bboxes, pred_bboxes, out_dir, file_name,

diff --git a/tests/test_data/test_datasets/test_scannet_dataset.py b/tests/test_data/test_datasets/test_scannet_dataset.py
@@ -183,19 +183,12 @@ def test_evaluate():
  shift_height=False,
  load_dim=6,
  use_dim=[0, 1, 2]),
- dict(
- type='LoadAnnotations3D',
- with_bbox_3d=True,
- with_label_3d=True,
- with_mask_3d=False,
- with_seg_3d=False),
  dict(type='GlobalAlignment', rotation_axis=2),
  dict(
  type='DefaultFormatBundle3D',
  class_names=class_names,
  with_label=False),
- dict(
- type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
+ dict(type='Collect3D', keys=['points'])
  ]
  ret_dict = scannet_dataset.evaluate(
  results, metric, pipeline=eval_pipeline)
@@ -265,19 +258,12 @@ def test_show():
  shift_height=False,
  load_dim=6,
  use_dim=[0, 1, 2]),
- dict(
- type='LoadAnnotations3D',
- with_bbox_3d=True,
- with_label_3d=True,
- with_mask_3d=False,
- with_seg_3d=False),
  dict(type='GlobalAlignment', rotation_axis=2),
  dict(
  type='DefaultFormatBundle3D',
  class_names=class_names,
  with_label=False),
- dict(
- type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
+ dict(type='Collect3D', keys=['points'])
  ]
  tmp_dir = tempfile.TemporaryDirectory()
  temp_dir = tmp_dir.name

diff --git a/tools/data_converter/scannet_data_utils.py b/tools/data_converter/scannet_data_utils.py
@@ -219,9 +219,6 @@ def _convert_to_label(self, mask):
  mask = np.load(mask)
  else:
  mask = np.fromfile(mask, dtype=np.long)
- # first filter out unannotated points (labeled as 0)
- mask = mask[mask != 0]
- # then convert to [0, 20) labels
  label = self.cat_id2class[mask]
  return label