[Enhance] Add an example of pcd to bin format. #1973
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JingweiZhang12
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Nov 1, 2022
ZCMax
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Nov 2, 2022
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@ZwwWayne Ready to be merged |
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LGTM. It's ready to be merged. @ZwwWayne |
ZwwWayne
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Dec 3, 2022
* [Enhance] Add an example of pcd to bin format. * Fix installation and typo.
ZwwWayne
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Dec 9, 2022
* add mmengine assertion * add docstring * fix mminstall * fix semantic segmentation configs * fix semantic seg * fix lint * remove unused imports * fix * update pointnet2-s3dis config * update data_list according to scene_idxs * remove useless function * fix bug lack `eval_ann_info` during evaluation * fix bug * update doc * fix lint * fix dataset converter * update mmengine version * delete whitespace * [Fix] fix point cloud loop visualization error (#1914) * fix point cloud loop visualization error * fix browse_dataset * fix browse_dataset * support saving lidar_det Co-authored-by: JingweiZhang12 <zjw18@mails.tsinghua.edu.cn> * [Enhance] Show instance statistics before and after through pipeline (#1863) * add instance statistics before and after through pipeline * add docstring * support showing cat-wise instance statistics * show all statistics of the dataset * small fix * polish code * show table * small fix * rename some varibles * update task name and config for fcos3d++ on nus (#1927) * update docs * update docs * Update det3d_dataset.py * remove unnecessary optional docs * update docs * update docstrings * update docs * fix lint * update docs * [Refactor]: Refactor SASSD (#1901) * refactor sassd * rename some varibles * add ut for sassd * add some comments * add some comments * [Refactor] Use `mmeval.MeanIoU` for `SegMetric` (#1929) * Use mmeval.MeanIoU * fix comments and add self.reset * solve some comments * fix docstring Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * fix * fix * fix * fix lint * add args and kwargs * [Docs] Add mmyolo link in README (#1935) * [Refactor] Use `mmeval.MeanIoU` for `SegMetric` (#1929) * Use mmeval.MeanIoU * fix comments and add self.reset * add mmyolo Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * [Fix] fix seg metric issues and circle ci (#1962) * fix circle ci * update * update * [Enhance] Support evaluation for waymo dataset on s3 filesystem when tensorflow>=2.6.0 (#1958) * support tensorflow>2.6.0 * add filter conditions * [Fix]: change --pkl to --pkl-path in the data upgrade scripts (#1965) * [Refactor] update `metainfo` in pkl file and add `categories` into `metainfo` (#1934) * update metainfo in pkl file * update * add version for waymo * update kitti metric * [Refactor] Refactor FCAF3D (#1945) * add fcaf3d config * support inference of fcaf3d on scannet-3d * minor changes * fix config of scannet * align test precision of facaf3d && support training * add ut * fix bugs of dataset conversion and indoor_metric * support fcaf3d on sunrgbd datasets and add rorate_iou_loss ut * small fix * add docstring and typehint * add typehint for SparseTensor * remove pdb * fix fcaf3d ut * [Docs] Update Chinese documentation (#1891) * [Enhance] Add an example of pcd to bin format. (#1973) * [Enhance] Add an example of pcd to bin format. * Fix installation and typo. * [Fix]: fix image conversion of Waymo to avoid information loss (#1979) * add mmeval * [Refactor] rename `CLASSES` and `PALETTE` to `classes` and `palette` in dataset metainfo (#1932) * rame CLASS and PALETTE to class and palette * change mmcv-full to mmcv * fix comments * [CI]: fix CI (#2007) * Update docs && support loading old checkpoints in FCAF3D (#1974) * add loading converted keys and README, metafile * update readme * reorganize readme * add version in FCAF3d detector * fix converter error * [Fix] fix kitti evaluation bugs on test dataset (#2005) * fix kitti test evaluation bugs * update * [Fix] update the key name of modules from mmdet in cfgs (#2011) * [Fix] fix instance statistics when only detecting a single class (#2003) * Update iou_neg_piecewise_sampler.py * fix lint * [Enhance] Remove useless json file converter (#1971) * [Enhance] Refactor the import of `mmdet` (#1947) * fix config * refactor import of `mmdet` * fix lint * fix lint * [Enhance] Speed up evaluation on waymo (#2008) * support fast eval on waymo * support waymo evaluatioin more flexible and faster * support waymo evaluatioin more flexible and faster * renames * add docs * add guides for multi-thread evaluation toolkit * fix docstring * add download link for idx2metainfo * add docstring * set convert_kitti_format=False in Lidar-based methods * fix docs * add docstring * [Features] Support PV_RCNN modules (#1957) * add pvrcnn module code * add voxelsa * fix * fix comments * fix comments * fix comments * add stack sa * fix * fix comments * fix comments * fix * add ut * fix comments * [Fix]Fix a bug in StackQueryAndGroup (#2043) * fix a bug * fix a batch inference bug * fix docs * [Community] Add 'Projects/' folder, and the first example project (#2042) * add project in mmdet3d * fix * fix * [Fix] Fix waymo converter (#2040) * fix waymo converter * [Fix] Update waymo converter and fix lint * Update waymo_converter.py * Update kitti_converter.py * Update update_infos_to_v2.py * revert * fix paths in `update_infos_to_v2` on Windows by using `pathlib` (#2031) * fix paths on Windows by using `pathlib` * refactor Path import * simplify the warning and error when using open3d and MinkowskiEngine (#2027) * [FIX] replace DefaultFormatBundle/3D with Pack(3D)DetInputs (#1987) * replace defaultformatbundle3d with pack3ddetinputs * remove normalize, pad, imagetotensor from configs * rm unused key 'img_norm_cfg' * fix lint errors * fix lint errors * fix lint error * xx * [Docs] Refine the documentation (#1994) * refine doc * refine docs * replace `CLASSES` with `classes` * update doc * Minor fix Co-authored-by: Tai-Wang <tab_wang@outlook.com> * [Fix] Fix some loading bugs and support fov_image_based mode in Waymo dataset. (#1942) * modify sample_id to sample_id and support fov_image_based on waymo dataset * Update waymo_metric.py * Minor fix * Minor fix * Minor fix * Minor fix * Minor fix * Minor fix * Minor fixes * Minor fixes * Remove optional * fix dataset instances converting bugs * Add a blank line to fix the doc compilation format * Fix the bin file name in waymo_fov config * Resolve conflicts * fix ci and other things Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: lianqing11 <lianqing11@foxmail.com> Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * [Fix] Add num_features in Lyft dataset info file (#1948) Co-authored-by: Tai-Wang <tab_wang@outlook.com> * [Feature] Support FCAF3D on S3DIS dataset in `dev-1.x` branch (#1984) * support fcaf3d for s3dis dataset * Update convert_utils.py * Update seg3d_dataset.py * Delete compose.py * fix import error * use `mmengine.Compose` * Update s3dis-3d.py * Update fcaf3d_2xb8_s3dis-3d-5class.py * Update s3dis_dataset.py * update unittest for s3dis * update docs * use `mmcv.Compose` instead of `mmengine.Compose` * update docstring * fix s3dis preprocessing bug * Add typehint * Update config and fix s3dis dataset * update typehit * Update convert_utils.py * Update README and metafile Co-authored-by: Tai-Wang <tab_wang@outlook.com> * fix pp_waymo * update * resolve Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> Co-authored-by: JingweiZhang12 <zjw18@mails.tsinghua.edu.cn> Co-authored-by: Qing Lian <lianqing1997@gmail.com> Co-authored-by: Shaun <cq.xiang@foxmail.com> Co-authored-by: Wencheng Wu <41542251+274869388@users.noreply.github.com> Co-authored-by: Erli Ouyang <ouyangerli@gmail.com> Co-authored-by: VVsssssk <88368822+VVsssssk@users.noreply.github.com> Co-authored-by: vavanade <vavanade@users.noreply.github.com> Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: lianqing11 <lianqing11@foxmail.com>
ZwwWayne
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Dec 9, 2022
…2046) * add mmengine assertion * add docstring * fix mminstall * fix semantic segmentation configs * fix semantic seg * fix lint * remove unused imports * fix * update pointnet2-s3dis config * update data_list according to scene_idxs * remove useless function * fix bug lack `eval_ann_info` during evaluation * fix bug * update doc * fix lint * fix dataset converter * update mmengine version * delete whitespace * [Fix] fix point cloud loop visualization error (#1914) * fix point cloud loop visualization error * fix browse_dataset * fix browse_dataset * support saving lidar_det Co-authored-by: JingweiZhang12 <zjw18@mails.tsinghua.edu.cn> * [Enhance] Show instance statistics before and after through pipeline (#1863) * add instance statistics before and after through pipeline * add docstring * support showing cat-wise instance statistics * show all statistics of the dataset * small fix * polish code * show table * small fix * rename some varibles * update task name and config for fcos3d++ on nus (#1927) * update docs * update docs * Update det3d_dataset.py * remove unnecessary optional docs * update docs * update docstrings * update docs * fix lint * update docs * [Refactor]: Refactor SASSD (#1901) * refactor sassd * rename some varibles * add ut for sassd * add some comments * add some comments * [Refactor] Use `mmeval.MeanIoU` for `SegMetric` (#1929) * Use mmeval.MeanIoU * fix comments and add self.reset * solve some comments * fix docstring Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * fix * fix * fix * fix lint * add args and kwargs * [Docs] Add mmyolo link in README (#1935) * [Refactor] Use `mmeval.MeanIoU` for `SegMetric` (#1929) * Use mmeval.MeanIoU * fix comments and add self.reset * add mmyolo Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * [Fix] fix seg metric issues and circle ci (#1962) * fix circle ci * update * update * [Enhance] Support evaluation for waymo dataset on s3 filesystem when tensorflow>=2.6.0 (#1958) * support tensorflow>2.6.0 * add filter conditions * [Fix]: change --pkl to --pkl-path in the data upgrade scripts (#1965) * [Refactor] update `metainfo` in pkl file and add `categories` into `metainfo` (#1934) * update metainfo in pkl file * update * add version for waymo * update kitti metric * [Refactor] Refactor FCAF3D (#1945) * add fcaf3d config * support inference of fcaf3d on scannet-3d * minor changes * fix config of scannet * align test precision of facaf3d && support training * add ut * fix bugs of dataset conversion and indoor_metric * support fcaf3d on sunrgbd datasets and add rorate_iou_loss ut * small fix * add docstring and typehint * add typehint for SparseTensor * remove pdb * fix fcaf3d ut * [Docs] Update Chinese documentation (#1891) * [Enhance] Add an example of pcd to bin format. (#1973) * [Enhance] Add an example of pcd to bin format. * Fix installation and typo. * [Fix]: fix image conversion of Waymo to avoid information loss (#1979) * add mmeval * [Refactor] rename `CLASSES` and `PALETTE` to `classes` and `palette` in dataset metainfo (#1932) * rame CLASS and PALETTE to class and palette * change mmcv-full to mmcv * fix comments * [CI]: fix CI (#2007) * Update docs && support loading old checkpoints in FCAF3D (#1974) * add loading converted keys and README, metafile * update readme * reorganize readme * add version in FCAF3d detector * fix converter error * [Fix] fix kitti evaluation bugs on test dataset (#2005) * fix kitti test evaluation bugs * update * [Fix] update the key name of modules from mmdet in cfgs (#2011) * [Fix] fix instance statistics when only detecting a single class (#2003) * Update iou_neg_piecewise_sampler.py * fix lint * [Enhance] Remove useless json file converter (#1971) * [Enhance] Refactor the import of `mmdet` (#1947) * fix config * refactor import of `mmdet` * fix lint * fix lint * [Enhance] Speed up evaluation on waymo (#2008) * support fast eval on waymo * support waymo evaluatioin more flexible and faster * support waymo evaluatioin more flexible and faster * renames * add docs * add guides for multi-thread evaluation toolkit * fix docstring * add download link for idx2metainfo * add docstring * set convert_kitti_format=False in Lidar-based methods * fix docs * add docstring * [Features] Support PV_RCNN modules (#1957) * add pvrcnn module code * add voxelsa * fix * fix comments * fix comments * fix comments * add stack sa * fix * fix comments * fix comments * fix * add ut * fix comments * fix kitti mono_det bug * [Fix]Fix a bug in StackQueryAndGroup (#2043) * fix a bug * fix a batch inference bug * fix docs * [Community] Add 'Projects/' folder, and the first example project (#2042) * add project in mmdet3d * fix * fix * [Fix] Fix waymo converter (#2040) * fix waymo converter * [Fix] Update waymo converter and fix lint * Update waymo_converter.py * Update kitti_converter.py * Update update_infos_to_v2.py * revert * fix paths in `update_infos_to_v2` on Windows by using `pathlib` (#2031) * fix paths on Windows by using `pathlib` * refactor Path import * simplify the warning and error when using open3d and MinkowskiEngine (#2027) * [FIX] replace DefaultFormatBundle/3D with Pack(3D)DetInputs (#1987) * replace defaultformatbundle3d with pack3ddetinputs * remove normalize, pad, imagetotensor from configs * rm unused key 'img_norm_cfg' * fix lint errors * fix lint errors * fix lint error * xx * [Docs] Refine the documentation (#1994) * refine doc * refine docs * replace `CLASSES` with `classes` * update doc * Minor fix Co-authored-by: Tai-Wang <tab_wang@outlook.com> * Update converter * [Fix] Fix some loading bugs and support fov_image_based mode in Waymo dataset. (#1942) * modify sample_id to sample_id and support fov_image_based on waymo dataset * Update waymo_metric.py * Minor fix * Minor fix * Minor fix * Minor fix * Minor fix * Minor fix * Minor fixes * Minor fixes * Remove optional * fix dataset instances converting bugs * Add a blank line to fix the doc compilation format * Fix the bin file name in waymo_fov config * Resolve conflicts * fix ci and other things Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: lianqing11 <lianqing11@foxmail.com> Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> * [Fix] Add num_features in Lyft dataset info file (#1948) Co-authored-by: Tai-Wang <tab_wang@outlook.com> * [Feature] Support FCAF3D on S3DIS dataset in `dev-1.x` branch (#1984) * support fcaf3d for s3dis dataset * Update convert_utils.py * Update seg3d_dataset.py * Delete compose.py * fix import error * use `mmengine.Compose` * Update s3dis-3d.py * Update fcaf3d_2xb8_s3dis-3d-5class.py * Update s3dis_dataset.py * update unittest for s3dis * update docs * use `mmcv.Compose` instead of `mmengine.Compose` * update docstring * fix s3dis preprocessing bug * Add typehint * Update config and fix s3dis dataset * update typehit * Update convert_utils.py * Update README and metafile Co-authored-by: Tai-Wang <tab_wang@outlook.com> * Update kitti_dataset.py * replace `List` wiith `Tuple` format to represent `origin` * Update convert_utils.py * add comments * update * resolve Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn> Co-authored-by: JingweiZhang12 <zjw18@mails.tsinghua.edu.cn> Co-authored-by: Qing Lian <lianqing1997@gmail.com> Co-authored-by: Shaun <cq.xiang@foxmail.com> Co-authored-by: Wencheng Wu <41542251+274869388@users.noreply.github.com> Co-authored-by: Erli Ouyang <ouyangerli@gmail.com> Co-authored-by: VVsssssk <88368822+VVsssssk@users.noreply.github.com> Co-authored-by: vavanade <vavanade@users.noreply.github.com> Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: lianqing11 <lianqing11@foxmail.com>
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Motivation
The motivation of this PR is to add an example of pcd to bin format file.
Modification
Added installation examples and code examples for converting pcd to bin files using the pypcd tool in this document.
BC-breaking (Optional)
No.
Checklist