KeyError: 'NuScenesDatasetRadar is not in the dataset registry'

Describe the bug When I test my customed dataset with the following steps:

python3 tools/test.py ./projects/configs/cam_radar/res50_cam_radar.py  ./work_dirs/retinanet_r50_fpn_2x_coco_obstacle/epoch_1.pth --eval proposal

It replied:

Traceback (most recent call last):
  File "tools/test.py", line 245, in <module>
    main()
  File "tools/test.py", line 183, in main
    dataset = build_dataset(cfg.data.test)
  File "/home/ubuntu/naca/mmdetection3d/mmdet3d/datasets/builder.py", line 43, in build_dataset
    dataset = build_from_cfg(cfg, DATASETS, default_args)
  File "/home/ubuntu/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmcv/utils/registry.py", line 58, in build_from_cfg
    raise KeyError(
KeyError: 'NuScenesDatasetRadar is not in the dataset registry'

Reproduction

Firstly, I run:

python3 tools/test.py ./projects/configs/cam_radar/res50_cam_radar.py  ./work_dirs/retinanet_r50_fpn_2x_coco_obstacle/epoch_1.pth --eval proposal

Then I check init.py to make sure that the importlib.import_module() correctly import my customed dataset : Specificaly, I added the followings to test.py:

    if hasattr(cfg, 'plugin'):
        if cfg.plugin:
            import importlib
            if hasattr(cfg, 'plugin_dir'):
                plugin_dir = cfg.plugin_dir
                _module_dir = os.path.dirname(plugin_dir)
                _module_dir = _module_dir.split('/')
                _module_path = _module_dir[0]

                for m in _module_dir[1:]:
                    _module_path = _module_path + '.' + m
                print(_module_path)
                plg_lib = importlib.import_module(_module_path)
                print(plg_lib)
            else:
                # import dir is the dirpath for the config file
                _module_dir = os.path.dirname(args.config)
                _module_dir = _module_dir.split('/')
                _module_path = _module_dir[0]
                for m in _module_dir[1:]:
                    _module_path = _module_path + '.' + m
                print(_module_path)
                plg_lib = importlib.import_module(_module_path)

It tells me:


<module 'projects.sparsefusion3d' from '/home/ubuntu/naca/SparseFusion3D/projects/sparsefusion3d/__init__.py'>

Did you make any modifications on the code or config? Did you understand what you have modified?

import mmcv
import numpy as np
import pyquaternion
import tempfile
from nuscenes.utils.data_classes import Box as NuScenesBox
from os import path as osp

from mmdet.datasets import DATASETS
from mmdet3d.core import show_result
from mmdet3d.core.bbox import Box3DMode, Coord3DMode, LiDARInstance3DBoxes
from mmdet3d.datasets import Custom3DDataset, NuScenesDataset
from mmdet3d.datasets.pipelines import Compose

@DATASETS.register_module()
class NuScenesDatasetRadar(Custom3DDataset):
    def __init__(self,
                 ann_file,
                 pipeline=None,
                 data_root=None,
                 classes=None,
                 load_interval=1,
                 with_velocity=True,
                 modality=None,
                 box_type_3d='LiDAR',
                 filter_empty_gt=True,
                 test_mode=False,
                 eval_version='detection_cvpr_2019',
                 use_valid_flag=False):
        self.load_interval = load_interval
        self.use_valid_flag = use_valid_flag
        super().__init__(
            data_root=data_root,
            ann_file=ann_file,
            pipeline=pipeline,
            classes=classes,
            modality=modality,
            box_type_3d=box_type_3d,
            filter_empty_gt=filter_empty_gt,
            test_mode=test_mode)

        self.with_velocity = with_velocity
        self.eval_version = eval_version
        from nuscenes.eval.detection.config import config_factory
        self.eval_detection_configs = config_factory(self.eval_version)
        if self.modality is None:
            self.modality = dict(
                use_camera=False,
                use_lidar=False,
                use_radar=False,
                use_map=False,
                use_external=False,
            )

    def get_cat_ids(self, idx):
        """Get category distribution of single scene.
        Args:
            idx (int): Index of the data_info.
        Returns:
            dict[list]: for each category, if the current scene
                contains such boxes, store a list containing idx,
                otherwise, store empty list.
        """
        info = self.data_infos[idx]
        if self.use_valid_flag:
            # if use valid_flag then valid_flag used to filter bboxes which does not have pts
            mask = info['valid_flag']
            gt_names = set(info['gt_names'][mask])
        else:
            gt_names = set(info['gt_names'])

        cat_ids = []
        for name in gt_names:
            if name in self.CLASSES:
                cat_ids.append(self.cat2id[name])
        return cat_ids

What dataset did you use?

Environment

sys.platform: linux
Python: 3.8.13 (default, Mar 28 2022, 11:38:47) [GCC 7.5.0]
CUDA available: True
GPU 0,1: NVIDIA GeForce RTX 3080
CUDA_HOME: /usr/local/cuda
NVCC: Cuda compilation tools, release 11.1, V11.1.74
GCC: gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0
PyTorch: 1.8.0
PyTorch compiling details: PyTorch built with:
  - GCC 7.3
  - C++ Version: 201402
  - Intel(R) oneAPI Math Kernel Library Version 2021.4-Product Build 20210904 for Intel(R) 64 architecture applications
  - Intel(R) MKL-DNN v1.7.0 (Git Hash 7aed236906b1f7a05c0917e5257a1af05e9ff683)
  - OpenMP 201511 (a.k.a. OpenMP 4.5)
  - NNPACK is enabled
  - CPU capability usage: AVX2
  - CUDA Runtime 11.1
  - NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86;-gencode;arch=compute_37,code=compute_37
  - CuDNN 8.0.5
  - Magma 2.5.2
  - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.1, CUDNN_VERSION=8.0.5, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.8.0, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=ON, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON, 

TorchVision: 0.9.0
OpenCV: 4.5.5
MMCV: 1.5.2
MMCV Compiler: GCC 9.4
MMCV CUDA Compiler: 11.1
MMDetection: 2.24.1
MMSegmentation: 0.24.1
MMDetection3D: 1.0.0rc2+
spconv2.0: False

open-mmlab / mmdetection3d

KeyError: 'NuScenesDatasetRadar is not in the dataset registry' #1640