How can I generate per point classification?

[sylyt62]

Hi, thanks for sharing your excellent work first! I have several questions.

I met the following error while testing. For my understanding, there are no annotations available while testing. So after a hard debug, I found that the second composer of test_pipeline called the 'annos' key of my test.pkl data, so I comment out this line dict(type='GlobalAlignment', rotation_axis=2), in the config file so that I can get a result. But actually I'm not sure will it cause any alignment problem on the results.

File "tools/test.py", line 214, in main() File "tools/test.py", line 184, in main outputs = single_gpu_test(model, data_loader, args.show, args.show_dir) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/apis/test.py", line 36, in single_gpu_test for i, data in enumerate(data_loader): File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 517, in next data = self._next_data() File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1199, in _next_data return self._process_data(data) File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1225, in _process_data data.reraise() File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/_utils.py", line 429, in reraise raise self.exc_type(msg) KeyError: Caught KeyError in DataLoader worker process 0. Original Traceback (most recent call last): File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/_utils/worker.py", line 202, in _worker_loop data = fetcher.fetch(index) File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 44, in fetch data = [self.dataset[idx] for idx in possibly_batched_index] File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 44, in data = [self.dataset[idx] for idx in possibly_batched_index] File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/datasets/custom_3d.py", line 354, in getitem return self.prepare_test_data(idx) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/datasets/scannet_dataset.py", line 135, in prepare_test_data example = self.pipeline(input_dict) File "/home/yangtian/anaconda3/envs/open-mmlab/lib/python3.8/site-packages/mmdet/datasets/pipelines/compose.py", line 41, in call data = t(data) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/datasets/pipelines/transforms_3d.py", line 475, in call assert 'axis_align_matrix' in input_dict['ann_info'].keys(), \ KeyError: 'ann_info'

And after that, I wanna visualize the results, so I added--show --show_dir ./results/custom_test/ . However met another error:

File "tools/test.py", line 214, in main() File "tools/test.py", line 184, in main outputs = single_gpu_test(model, data_loader, args.show, args.show_dir) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/apis/test.py", line 46, in single_gpu_test model.module.show_results(data, result, out_dir) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/models/detectors/base.py", line 107, in show_results show_result(points, None, pred_bboxes, out_dir, file_name) TypeError: show_result() missing 2 required positional arguments: 'out_dir' and 'filename'

Not fixed yet. But I found that in show_result.py, the function show_result() takes gt_labels and pred_labels as well while in the testing procedure it doesn't pass this two values. I'm gonna continue debugging on it.

Finally, I'm wondering if there's a convenience way to get per point classification results?

[filaPro]

Hi @sylyt62,

1. Yes in general annotations should not be used for testing. However for some reasons in mmdetection3d this axis_align_matrix is stored in annotations, so we get it from there also during testing

2. Did you make any modifications in our code? I think, after #17 everything should be fine.

3. Actually we do not solve per point classification. You can try to assign the point with the class of the box, that contains it.

[sylyt62]

@filaPro Oh I removed the comment outputs = single_gpu_test(model, data_loader) # , args.show, args.show_dir) in line 184, tools/test.py...

I changed it back.

I do get those .obj files when doing validation on the official scannetv2 dataset, cause I added --eval mAP I think. But for testing there's no groundtruth to do mAP and this error shows up,

Traceback (most recent call last): File "tools/test.py", line 214, in main() File "tools/test.py", line 210, in main print(dataset.evaluate(outputs, show=args.show, out_dir=args.show_dir, **eval_kwargs)) File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/datasets/custom_3d.py", line 259, in evaluate gt_annos = [info['annos'] for info in self.data_infos] File "/media/yangtian/SATA3/Workspace/fcaf3d-master/mmdet3d/datasets/custom_3d.py", line 259, in gt_annos = [info['annos'] for info in self.data_infos] KeyError: 'annos'

my test.pkl:

[{'point_cloud': {'num_features': 6, 'lidar_idx': 'scene0707_00'}, 'pts_path': 'points/scene0707_00.bin'}, {'point_cloud': {'num_features': 6, 'lidar_idx': 'scene0708_00'}, 'pts_path': 'points/scene0708_00.bin'}, {'point_cloud': {'num_features': 6, 'lidar_idx': 'scene0709_00'}, 'pts_path': 'points/scene0709_00.bin'}, {'point_cloud': {'num_features': 6, 'lidar_idx': 'scene0710_00'}, 'pts_path': 'points/scene0710_00.bin'}]

[filaPro]

Unfortunately, we only update the show call in dataset.evaluate method in #10. You can somehow update detector.show_results method with the same call but only for pred_bboxes without gt_bboxes...

[sylyt62]

Gotcha thx ~:)