[Fix] Remove the legacy hack function for monocular dataset browsing (#…

…794)

* Remove the legacy hack function for monocular dataset browsing

* Remove legacy import from stucture/__init__.py

* Remove legacy hacks for nuScenes visualization

* Add deleted show_bboxes initialization in inference.py

* Rollback deletion of hack function in core

* Adjust the deprecationwarning

mmdet3d/apis/inference.py

@@ -7,11 +7,11 @@
 from mmcv.runner import load_checkpoint
 from os import path as osp
 
-from mmdet3d.core import (Box3DMode, DepthInstance3DBoxes,
- LiDARInstance3DBoxes, show_multi_modality_result,
- show_result, show_seg_result)
+from mmdet3d.core import (Box3DMode, CameraInstance3DBoxes,
+ DepthInstance3DBoxes, LiDARInstance3DBoxes,
+ show_multi_modality_result, show_result,
+ show_seg_result)
 from mmdet3d.core.bbox import get_box_type
-from mmdet3d.core.bbox.structures.cam_box3d import CameraInstance3DBoxes
 from mmdet3d.datasets.pipelines import Compose
 from mmdet3d.models import build_model
 
@@ -427,11 +427,8 @@ def show_proj_det_result_meshlab(data,
  raise NotImplementedError(
  'camera intrinsic matrix is not provided')
 
- from mmdet3d.core.bbox import mono_cam_box2vis
  show_bboxes = CameraInstance3DBoxes(
  pred_bboxes, box_dim=pred_bboxes.shape[-1], origin=(0.5, 1.0, 0.5))
- # TODO: remove the hack of box from NuScenesMonoDataset
- show_bboxes = mono_cam_box2vis(show_bboxes)
 
  show_multi_modality_result(
  img,

mmdet3d/core/bbox/structures/utils.py

@@ -1,5 +1,6 @@
 import numpy as np
 import torch
+from logging import warning
 
 
 def limit_period(val, offset=0.5, period=np.pi):
@@ -167,6 +168,9 @@ def mono_cam_box2vis(cam_box):
  Returns:
  :obj:`CameraInstance3DBoxes`: Box after conversion.
  """
+ warning.warn('DeprecationWarning: The hack of yaw and dimension in the '
+ 'monocular 3D detection on nuScenes has been removed. The '
+ 'function mono_cam_box2vis will be deprecated.')
  from . import CameraInstance3DBoxes
  assert isinstance(cam_box, CameraInstance3DBoxes), \
  'input bbox should be CameraInstance3DBoxes!'

mmdet3d/datasets/nuscenes_mono_dataset.py

@@ -11,7 +11,7 @@
 from mmdet3d.core import bbox3d2result, box3d_multiclass_nms, xywhr2xyxyr
 from mmdet.datasets import DATASETS, CocoDataset
 from ..core import show_multi_modality_result
-from ..core.bbox import CameraInstance3DBoxes, get_box_type, mono_cam_box2vis
+from ..core.bbox import CameraInstance3DBoxes, get_box_type
 from .pipelines import Compose
 from .utils import extract_result_dict, get_loading_pipeline
 
@@ -624,9 +624,6 @@ def show(self, results, out_dir, show=True, pipeline=None):
  img = img.numpy().transpose(1, 2, 0)
  gt_bboxes = self.get_ann_info(i)['gt_bboxes_3d']
  pred_bboxes = result['boxes_3d']
- # TODO: remove the hack of box from NuScenesMonoDataset
- gt_bboxes = mono_cam_box2vis(gt_bboxes)
- pred_bboxes = mono_cam_box2vis(pred_bboxes)
  show_multi_modality_result(
  img,
  gt_bboxes,

mmdet3d/models/detectors/single_stage_mono3d.py

@@ -5,7 +5,7 @@
 from os import path as osp
 
 from mmdet3d.core import (CameraInstance3DBoxes, bbox3d2result,
- mono_cam_box2vis, show_multi_modality_result)
+ show_multi_modality_result)
 from mmdet.models.builder import DETECTORS
 from mmdet.models.detectors.single_stage import SingleStageDetector
 
@@ -207,9 +207,6 @@ def show_results(self, data, result, out_dir):
  assert isinstance(pred_bboxes, CameraInstance3DBoxes), \
  f'unsupported predicted bbox type {type(pred_bboxes)}'
 
- # TODO: remove the hack of box from NuScenesMonoDataset
- pred_bboxes = mono_cam_box2vis(pred_bboxes)
-
  show_multi_modality_result(
  img,
  None,