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[Fix] Fix image saving in the waymo preprocessing script. #1979

Merged
merged 1 commit into from
Nov 3, 2022
Merged

[Fix] Fix image saving in the waymo preprocessing script. #1979

merged 1 commit into from
Nov 3, 2022

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@JingweiZhang12 JingweiZhang12 commented Nov 2, 2022 •
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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

The image writing using mmcv is through decoding and encoding, then saving as a .'jpg' image. It will lose some image information.

Our original solution: decoding and encoding the image info, and then saving it as a .'png' image. It will not lose image info but cause a large storage footprint since the '.png' encoding.

New Solution: writing the image as a file in 'wb' mode like this PR, which is merged in the dev branch.

The above observation has been verified on a toy image.

Modification

Please briefly describe what modification is made in this PR.

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.

@JingweiZhang12 JingweiZhang12 changed the title [Fix] Fix image saving in the waymo preprocess script. [Fix] Fix image saving in the waymo preprocessing script. Nov 2, 2022
@ZwwWayne ZwwWayne merged commit a5bb2cd into open-mmlab:dev-1.x Nov 3, 2022
ZwwWayne pushed a commit to ZwwWayne/mmdetection3d that referenced this pull request Dec 3, 2022
@JingweiZhang12 @ZwwWayne
[Fix]: fix image conversion of Waymo to avoid information loss (open-…
4d5a7fe 
…mmlab#1979)
ZwwWayne pushed a commit that referenced this pull request Dec 9, 2022
@Xiangxu-0103 @ZCMax
@JingweiZhang12 @lianqing11 @cxiang26 @274869388 @oyel @VVsssssk @vavanade @Tai-Wang @lianqing01
[Fix] fix anchor size issue of pointpillars on waymo dataset (#2063)
ea15a84 
* 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 pushed a commit that referenced this pull request Dec 9, 2022
@Xiangxu-0103 @ZCMax
@JingweiZhang12 @lianqing11 @cxiang26 @274869388 @oyel @VVsssssk @vavanade @Tai-Wang @lianqing01
[Fix] Updata bbox_3d info in cam_instances for mono3d-det task (#…
e00a74e 
…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>
@JingweiZhang12 JingweiZhang12 deleted the fix_waymo_image_convert branch January 11, 2023 14:34
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@ZCMax ZCMax ZCMax approved these changes

@ZwwWayne ZwwWayne Awaiting requested review from ZwwWayne

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