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[Feature] Refactor Waymo dataset_converter/dataset/evaluator #2836

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merged 5 commits into from
Dec 27, 2023

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sunjiahao1999
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Thanks for your contribution and we appreciate it a lot. The following instructions would make your pull request more healthy and more easily get feedback. If you do not understand some items, don't worry, just make the pull request and seek help from maintainers.

Motivation

Please describe the motivation of this PR and the goal you want to achieve through this PR.

Modification

  1. Refactor Waymo dataset_converter
  2. Refactor Waymo dataset
  3. Refactor Waymo evaluator
  4. Fix Det3DDataset potential bug to speed up training/test setup
  5. Fix a print_log in visualization hook

BC-breaking (Optional)

Does the modification introduce changes that break the back-compatibility of the downstream repos?
If so, please describe how it breaks the compatibility and how the downstream projects should modify their code to keep compatibility with this PR.

Use cases (Optional)

If this PR introduces a new feature, it is better to list some use cases here, and update the documentation.

Checklist

  1. Pre-commit or other linting tools are used to fix the potential lint issues.
  2. The modification is covered by complete unit tests. If not, please add more unit test to ensure the correctness.
  3. If the modification has potential influence on downstream projects, this PR should be tested with downstream projects.
  4. The documentation has been modified accordingly, like docstring or example tutorials.

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codecov bot commented Dec 5, 2023

Codecov Report

Attention: 144 lines in your changes are missing coverage. Please review.

Comparison is base (5c0613b) 46.70% compared to head (bd6e0a4) 47.24%.

Files Patch % Lines
mmdet3d/evaluation/metrics/waymo_metric.py 9.52% 76 Missing ⚠️
...tion/functional/waymo_utils/prediction_to_waymo.py 0.00% 34 Missing ⚠️
mmdet3d/datasets/waymo_dataset.py 30.43% 27 Missing and 5 partials ⚠️
mmdet3d/engine/hooks/visualization_hook.py 0.00% 0 Missing and 2 partials ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #2836      +/-   ##
==========================================
+ Coverage   46.70%   47.24%   +0.53%     
==========================================
  Files         277      277              
  Lines       23635    23417     -218     
  Branches     3704     3658      -46     
==========================================
+ Hits        11039    11063      +24     
+ Misses      11892    11640     -252     
- Partials      704      714      +10     
Flag Coverage Δ
unittests 47.24% <16.27%> (+0.53%) ⬆️

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tools/create_data.py Outdated Show resolved Hide resolved
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@Tai-Wang Tai-Wang left a comment

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Please also update the dataset and compatibility documentation

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Thank you for your submission! We really appreciate it. Like many open source projects, we ask that you all sign our Contributor License Agreement before we can accept your contribution.
1 out of 2 committers have signed the CLA.

✅ sunjiahao1999
❌ sjh


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- info\['instances'\]: It is a list of dict. Each dict contains all annotation information of single instance. For the i-th instance:
- info\['instances'\]\[i\]\['bbox_3d'\]: List of 7 numbers representing the 3D bounding box of the instance, in (x, y, z, l, w, h, yaw) order.
- info\['instances'\]\[i\]\['bbox'\]: List of 4 numbers representing the 2D bounding box of the instance, in (x1, y1, x2, y2) order. (some instances may not have a corresponding 2D bounding box)
- info\['instances'\]\[i\]\['bbox_label_3d'\]: A int indicate the label of instance and the -1 indicate ignore.
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An int indicating the label of instance and the -1 indicating ignore.

@sunjiahao1999 sunjiahao1999 changed the base branch from main to dev-1.x December 27, 2023 08:19
@Tai-Wang Tai-Wang merged commit 5b88c7b into open-mmlab:dev-1.x Dec 27, 2023
15 of 18 checks passed
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4 participants