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fix paths in update_infos_to_v2 on Windows by using pathlib #2031

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merged 2 commits into from
Nov 22, 2022
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fix paths in update_infos_to_v2 on Windows by using pathlib #2031

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902189b
fix paths on Windows by using `pathlib`
vavanade Nov 16, 2022
07219e8
refactor Path import
vavanade Nov 18, 2022
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83 changes: 42 additions & 41 deletions tools/dataset_converters/update_infos_to_v2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
import copy
import time
from os import path as osp
from pathlib import Path

import mmengine
import numpy as np
Expand Down Expand Up @@ -283,8 +284,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
ori_info_dict['ego2global_translation'])
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict.get(
'num_features', 5)
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'lidar_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'lidar_path']).name
temp_data_info['lidar_points'][
'lidar2ego'] = convert_quaternion_to_matrix(
ori_info_dict['lidar2ego_rotation'],
Expand Down Expand Up @@ -314,8 +315,8 @@ def update_nuscenes_infos(pkl_path, out_dir):
temp_data_info['images'] = {}
for cam in ori_info_dict['cams']:
empty_img_info = get_empty_img_info()
empty_img_info['img_path'] = ori_info_dict['cams'][cam][
'data_path'].split('/')[-1]
empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
'data_path']).name
empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
'cam_intrinsic'].tolist()
empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
Expand Down Expand Up @@ -359,7 +360,7 @@ def update_nuscenes_infos(pkl_path, out_dir):
ori_info_dict, nusc)
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -410,15 +411,15 @@ def update_kitti_infos(pkl_path, out_dir):
temp_data_info['images']['CAM3']['cam2img'] = ori_info_dict['calib'][
'P3'].tolist()

temp_data_info['images']['CAM2']['img_path'] = ori_info_dict['image'][
'image_path'].split('/')[-1]
temp_data_info['images']['CAM2']['img_path'] = Path(ori_info_dict['image'][
'image_path']).name
h, w = ori_info_dict['image']['image_shape']
temp_data_info['images']['CAM2']['height'] = h
temp_data_info['images']['CAM2']['width'] = w
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
'point_cloud']['num_features']
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'point_cloud']['velodyne_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'point_cloud']['velodyne_path']).name

rect = ori_info_dict['calib']['R0_rect'].astype(np.float32)
Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
Expand Down Expand Up @@ -498,7 +499,7 @@ def update_kitti_infos(pkl_path, out_dir):
temp_data_info['cam_instances'] = cam_instances
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -532,12 +533,12 @@ def update_s3dis_infos(pkl_path, out_dir):
temp_data_info['sample_idx'] = i
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
'point_cloud']['num_features']
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'pts_path'].split('/')[-1]
temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
'pts_semantic_mask_path'].split('/')[-1]
temp_data_info['pts_instance_mask_path'] = ori_info_dict[
'pts_instance_mask_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'pts_path']).name
temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
'pts_semantic_mask_path']).name
temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
'pts_instance_mask_path']).name

# TODO support camera
# np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
Expand Down Expand Up @@ -567,7 +568,7 @@ def update_s3dis_infos(pkl_path, out_dir):
temp_data_info['instances'] = instance_list
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -606,12 +607,12 @@ def update_scannet_infos(pkl_path, out_dir):
temp_data_info = get_empty_standard_data_info()
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
'point_cloud']['num_features']
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'pts_path'].split('/')[-1]
temp_data_info['pts_semantic_mask_path'] = ori_info_dict[
'pts_semantic_mask_path'].split('/')[-1]
temp_data_info['pts_instance_mask_path'] = ori_info_dict[
'pts_instance_mask_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'pts_path']).name
temp_data_info['pts_semantic_mask_path'] = Path(ori_info_dict[
'pts_semantic_mask_path']).name
temp_data_info['pts_instance_mask_path'] = Path(ori_info_dict[
'pts_instance_mask_path']).name

# TODO support camera
# np.linalg.inv(info['axis_align_matrix'] @ extrinsic): depth2cam
Expand Down Expand Up @@ -641,7 +642,7 @@ def update_scannet_infos(pkl_path, out_dir):
temp_data_info['instances'] = instance_list
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -678,17 +679,17 @@ def update_sunrgbd_infos(pkl_path, out_dir):
temp_data_info = get_empty_standard_data_info()
temp_data_info['lidar_points']['num_pts_feats'] = ori_info_dict[
'point_cloud']['num_features']
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'pts_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'pts_path']).name
calib = ori_info_dict['calib']
rt_mat = calib['Rt']
# follow Coord3DMode.convert_point
rt_mat = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]
]) @ rt_mat.transpose(1, 0)
depth2img = calib['K'] @ rt_mat
temp_data_info['images']['CAM0']['depth2img'] = depth2img.tolist()
temp_data_info['images']['CAM0']['img_path'] = ori_info_dict['image'][
'image_path'].split('/')[-1]
temp_data_info['images']['CAM0']['img_path'] = Path(ori_info_dict['image'][
'image_path']).name
h, w = ori_info_dict['image']['image_shape']
temp_data_info['images']['CAM0']['height'] = h
temp_data_info['images']['CAM0']['width'] = w
Expand Down Expand Up @@ -719,7 +720,7 @@ def update_sunrgbd_infos(pkl_path, out_dir):
temp_data_info['instances'] = instance_list
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -760,8 +761,8 @@ def update_lyft_infos(pkl_path, out_dir):
temp_data_info['ego2global'] = convert_quaternion_to_matrix(
ori_info_dict['ego2global_rotation'],
ori_info_dict['ego2global_translation'])
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'lidar_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'lidar_path']).name
temp_data_info['lidar_points'][
'lidar2ego'] = convert_quaternion_to_matrix(
ori_info_dict['lidar2ego_rotation'],
Expand Down Expand Up @@ -792,8 +793,8 @@ def update_lyft_infos(pkl_path, out_dir):
temp_data_info['images'] = {}
for cam in ori_info_dict['cams']:
empty_img_info = get_empty_img_info()
empty_img_info['img_path'] = ori_info_dict['cams'][cam][
'data_path'].split('/')[-1]
empty_img_info['img_path'] = Path(ori_info_dict['cams'][cam][
'data_path']).name
empty_img_info['cam2img'] = ori_info_dict['cams'][cam][
'cam_intrinsic'].tolist()
empty_img_info['sample_data_token'] = ori_info_dict['cams'][cam][
Expand Down Expand Up @@ -829,7 +830,7 @@ def update_lyft_infos(pkl_path, out_dir):
temp_data_info['instances'].append(empty_instance)
temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down Expand Up @@ -896,7 +897,7 @@ def update_waymo_infos(pkl_path, out_dir):
ori_info_dict['calib'][f'P{cam_idx}'] @ lidar2cam).tolist()

# image path
base_img_path = ori_info_dict['image']['image_path'].split('/')[-1]
base_img_path = Path(ori_info_dict['image']['image_path']).name

for cam_idx, cam_key in enumerate(camera_types):
temp_data_info['images'][cam_key]['timestamp'] = ori_info_dict[
Expand All @@ -912,8 +913,8 @@ def update_waymo_infos(pkl_path, out_dir):
'point_cloud']['num_features']
temp_data_info['lidar_points']['timestamp'] = ori_info_dict[
'timestamp']
temp_data_info['lidar_points']['lidar_path'] = ori_info_dict[
'point_cloud']['velodyne_path'].split('/')[-1]
temp_data_info['lidar_points']['lidar_path'] = Path(ori_info_dict[
'point_cloud']['velodyne_path']).name

# TODO discuss the usage of Tr_velo_to_cam in lidar
Trv2c = ori_info_dict['calib']['Tr_velo_to_cam'].astype(np.float32)
Expand All @@ -933,13 +934,13 @@ def update_waymo_infos(pkl_path, out_dir):
lidar_sweep = get_single_lidar_sweep()
lidar_sweep['ego2global'] = ori_sweep['pose']
lidar_sweep['timestamp'] = ori_sweep['timestamp']
lidar_sweep['lidar_points']['lidar_path'] = ori_sweep[
'velodyne_path'].split('/')[-1]
lidar_sweep['lidar_points']['lidar_path'] = Path(ori_sweep[
'velodyne_path']).name
# image sweeps
image_sweep = get_single_image_sweep(camera_types)
image_sweep['ego2global'] = ori_sweep['pose']
image_sweep['timestamp'] = ori_sweep['timestamp']
img_path = ori_sweep['image_path'].split('/')[-1]
img_path = Path(ori_sweep['image_path']).name
for cam_idx, cam_key in enumerate(camera_types):
image_sweep['images'][cam_key]['img_path'] = img_path

Expand Down Expand Up @@ -1036,7 +1037,7 @@ def update_waymo_infos(pkl_path, out_dir):

temp_data_info, _ = clear_data_info_unused_keys(temp_data_info)
converted_list.append(temp_data_info)
pkl_name = pkl_path.split('/')[-1]
pkl_name = Path(pkl_path).name
out_path = osp.join(out_dir, pkl_name)
print(f'Writing to output file: {out_path}.')
print(f'ignore classes: {ignore_class_name}')
Expand Down