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vavanade
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ZwwWayne
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fix paths in update_infos_to_v2 on Windows by using pathlib (open-mmlab#2031)
* fix paths on Windows by using `pathlib` * refactor Path import
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‎tools/dataset_converters/update_infos_to_v2.py‎

Lines changed: 42 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
1212
import copy
1313
import time
1414
from os import path as osp
15+
from pathlib import Path
1516

1617
import mmengine
1718
import numpy as np
@@ -283,8 +284,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
283284
ori_info_dict['ego2global_translation'])
284285
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict.get(
285286
'num_features', 5)
286-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
287-
'lidar_path'].split('/')[-1]
287+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
288+
'lidar_path']).name
288289
temp_data_info['lidar_points'][
289290
'lidar2ego'] = convert_quaternion_to_matrix(
290291
ori_info_dict['lidar2ego_rotation'],
@@ -314,8 +315,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
314315
temp_data_info['images'] = {}
315316
for cam in ori_info_dict['cams']:
316317
empty_img_info = get_empty_img_info()
317-
empty_img_info['img_path'] = ori_info_dict['cams'][cam][
318-
'data_path'].split('/')[-1]
318+
empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
319+
'data_path']).name
319320
empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
320321
'cam_intrinsic'].tolist()
321322
empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
@@ -359,7 +360,7 @@ def update_nuscenes_infos(pkl_path, out_dir):
359360
ori_info_dict, nusc)
360361
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
361362
converted_list.append(temp_data_info)
362-
pkl_name = pkl_path.split('/')[-1]
363+
pkl_name = Path(pkl_path).name
363364
out_path = osp.join(out_dir, pkl_name)
364365
print(f'Writing to output file: {out_path}.')
365366
print(f'ignore classes: {ignore_class_name}')
@@ -410,15 +411,15 @@ def update_kitti_infos(pkl_path, out_dir):
410411
temp_data_info['images']['CAM3']['cam2img'] = ori_info_dict['calib'][
411412
'P3'].tolist()
412413

413-
temp_data_info['images']['CAM2']['img_path'] = ori_info_dict['image'][
414-
'image_path'].split('/')[-1]
414+
temp_data_info['images']['CAM2']['img_path'] = Path(ori_info_dict['image'][
415+
'image_path']).name
415416
h, w = ori_info_dict['image']['image_shape']
416417
temp_data_info['images']['CAM2']['height'] = h
417418
temp_data_info['images']['CAM2']['width'] = w
418419
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
419420
'point_cloud']['num_features']
420-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
421-
'point_cloud']['velodyne_path'].split('/')[-1]
421+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
422+
'point_cloud']['velodyne_path']).name
422423

423424
rect = ori_info_dict['calib']['R0_rect'].astype(np.float32)
424425
Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
@@ -498,7 +499,7 @@ def update_kitti_infos(pkl_path, out_dir):
498499
temp_data_info['cam_instances'] = cam_instances
499500
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
500501
converted_list.append(temp_data_info)
501-
pkl_name = pkl_path.split('/')[-1]
502+
pkl_name = Path(pkl_path).name
502503
out_path = osp.join(out_dir, pkl_name)
503504
print(f'Writing to output file: {out_path}.')
504505
print(f'ignore classes: {ignore_class_name}')
@@ -532,12 +533,12 @@ def update_s3dis_infos(pkl_path, out_dir):
532533
temp_data_info['sample_idx'] = i
533534
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
534535
'point_cloud']['num_features']
535-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
536-
'pts_path'].split('/')[-1]
537-
temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
538-
'pts_semantic_mask_path'].split('/')[-1]
539-
temp_data_info['pts_instance_mask_path'] = ori_info_dict[
540-
'pts_instance_mask_path'].split('/')[-1]
536+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
537+
'pts_path']).name
538+
temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
539+
'pts_semantic_mask_path']).name
540+
temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
541+
'pts_instance_mask_path']).name
541542

542543
# TODO support camera
543544
# np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
@@ -567,7 +568,7 @@ def update_s3dis_infos(pkl_path, out_dir):
567568
temp_data_info['instances'] = instance_list
568569
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
569570
converted_list.append(temp_data_info)
570-
pkl_name = pkl_path.split('/')[-1]
571+
pkl_name = Path(pkl_path).name
571572
out_path = osp.join(out_dir, pkl_name)
572573
print(f'Writing to output file: {out_path}.')
573574
print(f'ignore classes: {ignore_class_name}')
@@ -606,12 +607,12 @@ def update_scannet_infos(pkl_path, out_dir):
606607
temp_data_info = get_empty_standard_data_info()
607608
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
608609
'point_cloud']['num_features']
609-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
610-
'pts_path'].split('/')[-1]
611-
temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
612-
'pts_semantic_mask_path'].split('/')[-1]
613-
temp_data_info['pts_instance_mask_path'] = ori_info_dict[
614-
'pts_instance_mask_path'].split('/')[-1]
610+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
611+
'pts_path']).name
612+
temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
613+
'pts_semantic_mask_path']).name
614+
temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
615+
'pts_instance_mask_path']).name
615616

616617
# TODO support camera
617618
# np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
@@ -641,7 +642,7 @@ def update_scannet_infos(pkl_path, out_dir):
641642
temp_data_info['instances'] = instance_list
642643
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
643644
converted_list.append(temp_data_info)
644-
pkl_name = pkl_path.split('/')[-1]
645+
pkl_name = Path(pkl_path).name
645646
out_path = osp.join(out_dir, pkl_name)
646647
print(f'Writing to output file: {out_path}.')
647648
print(f'ignore classes: {ignore_class_name}')
@@ -678,17 +679,17 @@ def update_sunrgbd_infos(pkl_path, out_dir):
678679
temp_data_info = get_empty_standard_data_info()
679680
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
680681
'point_cloud']['num_features']
681-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
682-
'pts_path'].split('/')[-1]
682+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
683+
'pts_path']).name
683684
calib = ori_info_dict['calib']
684685
rt_mat = calib['Rt']
685686
# follow Coord3DMode.convert_point
686687
rt_mat = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]
687688
]) @ rt_mat.transpose(1, 0)
688689
depth2img = calib['K'] @ rt_mat
689690
temp_data_info['images']['CAM0']['depth2img'] = depth2img.tolist()
690-
temp_data_info['images']['CAM0']['img_path'] = ori_info_dict['image'][
691-
'image_path'].split('/')[-1]
691+
temp_data_info['images']['CAM0']['img_path'] = Path(ori_info_dict['image'][
692+
'image_path']).name
692693
h, w = ori_info_dict['image']['image_shape']
693694
temp_data_info['images']['CAM0']['height'] = h
694695
temp_data_info['images']['CAM0']['width'] = w
@@ -719,7 +720,7 @@ def update_sunrgbd_infos(pkl_path, out_dir):
719720
temp_data_info['instances'] = instance_list
720721
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
721722
converted_list.append(temp_data_info)
722-
pkl_name = pkl_path.split('/')[-1]
723+
pkl_name = Path(pkl_path).name
723724
out_path = osp.join(out_dir, pkl_name)
724725
print(f'Writing to output file: {out_path}.')
725726
print(f'ignore classes: {ignore_class_name}')
@@ -760,8 +761,8 @@ def update_lyft_infos(pkl_path, out_dir):
760761
temp_data_info['ego2global'] = convert_quaternion_to_matrix(
761762
ori_info_dict['ego2global_rotation'],
762763
ori_info_dict['ego2global_translation'])
763-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
764-
'lidar_path'].split('/')[-1]
764+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
765+
'lidar_path']).name
765766
temp_data_info['lidar_points'][
766767
'lidar2ego'] = convert_quaternion_to_matrix(
767768
ori_info_dict['lidar2ego_rotation'],
@@ -792,8 +793,8 @@ def update_lyft_infos(pkl_path, out_dir):
792793
temp_data_info['images'] = {}
793794
for cam in ori_info_dict['cams']:
794795
empty_img_info = get_empty_img_info()
795-
empty_img_info['img_path'] = ori_info_dict['cams'][cam][
796-
'data_path'].split('/')[-1]
796+
empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
797+
'data_path']).name
797798
empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
798799
'cam_intrinsic'].tolist()
799800
empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
@@ -829,7 +830,7 @@ def update_lyft_infos(pkl_path, out_dir):
829830
temp_data_info['instances'].append(empty_instance)
830831
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
831832
converted_list.append(temp_data_info)
832-
pkl_name = pkl_path.split('/')[-1]
833+
pkl_name = Path(pkl_path).name
833834
out_path = osp.join(out_dir, pkl_name)
834835
print(f'Writing to output file: {out_path}.')
835836
print(f'ignore classes: {ignore_class_name}')
@@ -896,7 +897,7 @@ def update_waymo_infos(pkl_path, out_dir):
896897
ori_info_dict['calib'][f'P{cam_idx}'] @ lidar2cam).tolist()
897898

898899
# image path
899-
base_img_path = ori_info_dict['image']['image_path'].split('/')[-1]
900+
base_img_path = Path(ori_info_dict['image']['image_path']).name
900901

901902
for cam_idx, cam_key in enumerate(camera_types):
902903
temp_data_info['images'][cam_key]['timestamp'] = ori_info_dict[
@@ -912,8 +913,8 @@ def update_waymo_infos(pkl_path, out_dir):
912913
'point_cloud']['num_features']
913914
temp_data_info['lidar_points']['timestamp'] = ori_info_dict[
914915
'timestamp']
915-
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
916-
'point_cloud']['velodyne_path'].split('/')[-1]
916+
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
917+
'point_cloud']['velodyne_path']).name
917918

918919
# TODO discuss the usage of Tr_velo_to_cam in lidar
919920
Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
@@ -933,13 +934,13 @@ def update_waymo_infos(pkl_path, out_dir):
933934
lidar_sweep = get_single_lidar_sweep()
934935
lidar_sweep['ego2global'] = ori_sweep['pose']
935936
lidar_sweep['timestamp'] = ori_sweep['timestamp']
936-
lidar_sweep['lidar_points']['lidar_path'] = ori_sweep[
937-
'velodyne_path'].split('/')[-1]
937+
lidar_sweep['lidar_points']['lidar_path'] = Path(ori_sweep[
938+
'velodyne_path']).name
938939
# image sweeps
939940
image_sweep = get_single_image_sweep(camera_types)
940941
image_sweep['ego2global'] = ori_sweep['pose']
941942
image_sweep['timestamp'] = ori_sweep['timestamp']
942-
img_path = ori_sweep['image_path'].split('/')[-1]
943+
img_path = Path(ori_sweep['image_path']).name
943944
for cam_idx, cam_key in enumerate(camera_types):
944945
image_sweep['images'][cam_key]['img_path'] = img_path
945946

@@ -1036,7 +1037,7 @@ def update_waymo_infos(pkl_path, out_dir):
10361037

10371038
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
10381039
converted_list.append(temp_data_info)
1039-
pkl_name = pkl_path.split('/')[-1]
1040+
pkl_name = Path(pkl_path).name
10401041
out_path = osp.join(out_dir, pkl_name)
10411042
print(f'Writing to output file: {out_path}.')
10421043
print(f'ignore classes: {ignore_class_name}')

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