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from unittest import TestCase |
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import numpy as np |
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import pytest |
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from mmengine import DefaultScope |
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from mmdet3d.datasets.transforms import * |
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from mmdet3d.registry import TRANSFORMS |
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from mmdet3d.structures.points import LiDARPoints |
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DefaultScope.get_instance('test_multi_scale_flip_aug_3d', scope_name='mmdet3d') |
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class TestMuitiScaleFlipAug3D(TestCase): |
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def test_exception(self): |
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with pytest.raises(TypeError): |
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tta_transform = dict( |
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type='TestTimeAug', |
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transforms=[ |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=0.0, |
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flip_ratio_bev_vertical=0.0) |
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]) |
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TRANSFORMS.build(tta_transform) |
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def test_multi_scale_flip_aug(self): |
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tta_transform = dict( |
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type='TestTimeAug', |
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transforms=[[ |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=0.0, |
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flip_ratio_bev_vertical=0.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=0.0, |
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flip_ratio_bev_vertical=1.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=1.0, |
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flip_ratio_bev_vertical=0.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=1.0, |
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flip_ratio_bev_vertical=1.0) |
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], [dict(type='Pack3DDetInputs', keys=['points'])]]) |
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tta_module = TRANSFORMS.build(tta_transform) |
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results = dict() |
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points = LiDARPoints(np.random.random((100, 4)), 4) |
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results['points'] = points |
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tta_results = tta_module(results.copy()) |
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assert [ |
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data_sample.metainfo['pcd_horizontal_flip'] |
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for data_sample in tta_results['data_samples'] |
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] == [False, False, True, True] |
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assert [ |
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data_sample.metainfo['pcd_vertical_flip'] |
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for data_sample in tta_results['data_samples'] |
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] == [False, True, False, True] |
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tta_transform = dict( |
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type='TestTimeAug', |
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transforms=[[ |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[-0.78539816, -0.78539816], |
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scale_ratio_range=[1.0, 1.0], |
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translation_std=[0, 0, 0]), |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0, 0], |
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scale_ratio_range=[1.0, 1.0], |
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translation_std=[0, 0, 0]), |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0.78539816, 0.78539816], |
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scale_ratio_range=[1.0, 1.0], |
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translation_std=[0, 0, 0]) |
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], [dict(type='Pack3DDetInputs', keys=['points'])]]) |
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tta_module = TRANSFORMS.build(tta_transform) |
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results = dict() |
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points = LiDARPoints(np.random.random((100, 4)), 4) |
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results['points'] = points |
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tta_results = tta_module(results.copy()) |
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assert [ |
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data_sample.metainfo['pcd_rotation_angle'] |
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for data_sample in tta_results['data_samples'] |
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] == [-0.78539816, 0, 0.78539816] |
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assert [ |
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data_sample.metainfo['pcd_scale_factor'] |
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for data_sample in tta_results['data_samples'] |
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] == [1.0, 1.0, 1.0] |
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tta_transform = dict( |
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type='TestTimeAug', |
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transforms=[[ |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0, 0], |
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scale_ratio_range=[0.95, 0.95], |
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translation_std=[0, 0, 0]), |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0, 0], |
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scale_ratio_range=[1.0, 1.0], |
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translation_std=[0, 0, 0]), |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0, 0], |
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scale_ratio_range=[1.05, 1.05], |
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translation_std=[0, 0, 0]) |
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], [dict(type='Pack3DDetInputs', keys=['points'])]]) |
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tta_module = TRANSFORMS.build(tta_transform) |
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results = dict() |
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points = LiDARPoints(np.random.random((100, 4)), 4) |
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results['points'] = points |
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tta_results = tta_module(results.copy()) |
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assert [ |
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data_sample.metainfo['pcd_rotation_angle'] |
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for data_sample in tta_results['data_samples'] |
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] == [0, 0, 0] |
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assert [ |
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data_sample.metainfo['pcd_scale_factor'] |
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for data_sample in tta_results['data_samples'] |
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] == [0.95, 1, 1.05] |
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tta_transform = dict( |
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type='TestTimeAug', |
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transforms=[ |
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[ |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=0.0, |
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flip_ratio_bev_vertical=0.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=0.0, |
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flip_ratio_bev_vertical=1.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=1.0, |
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flip_ratio_bev_vertical=0.0), |
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dict( |
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type='RandomFlip3D', |
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flip_ratio_bev_horizontal=1.0, |
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flip_ratio_bev_vertical=1.0) |
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], |
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[ |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[pcd_rotate_range, pcd_rotate_range], |
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scale_ratio_range=[pcd_scale_factor, pcd_scale_factor], |
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translation_std=[0, 0, 0]) |
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for pcd_rotate_range in [-0.78539816, 0.0, 0.78539816] |
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for pcd_scale_factor in [0.95, 1.0, 1.05] |
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], [dict(type='Pack3DDetInputs', keys=['points'])] |
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]) |
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tta_module = TRANSFORMS.build(tta_transform) |
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results = dict() |
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points = LiDARPoints(np.random.random((100, 4)), 4) |
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results['points'] = points |
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tta_results = tta_module(results.copy()) |
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assert [ |
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data_sample.metainfo['pcd_horizontal_flip'] |
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for data_sample in tta_results['data_samples'] |
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] == [ |
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False, False, False, False, False, False, False, False, False, |
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False, False, False, False, False, False, False, False, False, |
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True, True, True, True, True, True, True, True, True, True, True, |
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True, True, True, True, True, True, True |
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] |
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assert [ |
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data_sample.metainfo['pcd_vertical_flip'] |
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for data_sample in tta_results['data_samples'] |
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] == [ |
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False, False, False, False, False, False, False, False, False, |
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True, True, True, True, True, True, True, True, True, False, False, |
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False, False, False, False, False, False, False, True, True, True, |
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True, True, True, True, True, True |
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] |
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assert [ |
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data_sample.metainfo['pcd_rotation_angle'] |
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for data_sample in tta_results['data_samples'] |
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] == [ |
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-0.78539816, -0.78539816, -0.78539816, 0.0, 0.0, 0.0, 0.78539816, |
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0.78539816, 0.78539816, -0.78539816, -0.78539816, -0.78539816, 0.0, |
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0.0, 0.0, 0.78539816, 0.78539816, 0.78539816, -0.78539816, |
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-0.78539816, -0.78539816, 0.0, 0.0, 0.0, 0.78539816, 0.78539816, |
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0.78539816, -0.78539816, -0.78539816, -0.78539816, 0.0, 0.0, 0.0, |
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0.78539816, 0.78539816, 0.78539816 |
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] |
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assert [ |
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data_sample.metainfo['pcd_scale_factor'] |
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for data_sample in tta_results['data_samples'] |
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] == [ |
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0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05, |
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0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05, |
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0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05, 0.95, 1.0, 1.05 |
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] |
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