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Suport train/test bevfusion with waymo dataset. #3001

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Suport train/test bevfusion with waymo dataset. #3001

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18 changes: 12 additions & 6 deletions mmdet3d/visualization/local_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -673,9 +673,14 @@ def _draw_instances_3d(self,
img = data_input['img']
if isinstance(img, list) or (isinstance(img, (np.ndarray, Tensor))
and len(img.shape) == 4):
# show multi-view images
img_size = img[0].shape[:2] if isinstance(
img, list) else img.shape[-2:] # noqa: E501
# show multi-view images
# when multi-view images are not in the same size, choose the max (h,w) as the img_size.
if isinstance(img, list):
all_size_array = np.stack([im.shape[:2] for im in img], axis=0)
img_size = tuple(np.max(all_size_array,axis=0))
else:
img.shape[-2:]

img_col = self.multi_imgs_col
img_row = math.ceil(len(img) / img_col)
composed_img = np.zeros(
Expand All @@ -688,6 +693,7 @@ def _draw_instances_3d(self,
single_img = single_img.permute(1, 2, 0).numpy()
single_img = single_img[..., [2, 1, 0]] # bgr to rgb
self.set_image(single_img)
single_img_size = single_img.shape[:2]
single_img_meta = dict()
for key, meta in input_meta.items():
if isinstance(meta,
Expand All @@ -714,10 +720,10 @@ def _draw_instances_3d(self,
centers_2d = instances.centers_2d
self.draw_points(centers_2d)
composed_img[(i // img_col) *
img_size[0]:(i // img_col + 1) * img_size[0],
img_size[0]:(i // img_col)*img_size[0] + single_img_size[0],
(i % img_col) *
img_size[1]:(i % img_col + 1) *
img_size[1]] = self.get_image()
img_size[1]:(i % img_col)*img_size[1]+
single_img_size[1]] = self.get_image()
data_3d['img'] = composed_img
else:
# show single-view image
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2 changes: 1 addition & 1 deletion projects/BEVFusion/bevfusion/loading.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ def transform(self, results: dict) -> Optional[dict]:

cam2img_array = np.eye(4).astype(np.float32)
cam2img_array[:3, :3] = np.array(cam_item['cam2img']).astype(
np.float32)
np.float32)[:3,:3]
cam2img.append(cam2img_array)
lidar2img.append(cam2img_array @ lidar2cam_array)

Expand Down