[Enhance] Support LiDAR visualization (#2611)

* need fix multi_modality

* update multi modal

* remove pcd

* fix mix bug

* fix nusence_mini

* fix msehframe

* fix flag exit

* add space line

Author: sunjiahao1999

configs/_base_/datasets/semantickitti.py

@@ -113,7 +113,7 @@
         dataset_type='semantickitti',
         backend_args=backend_args),
     dict(type='PointSegClassMapping'),
-    dict(type='Pack3DDetInputs', keys=['points'])
+    dict(type='Pack3DDetInputs', keys=['points', 'pts_semantic_mask'])
 ]
 # construct a pipeline for data and gt loading in show function
 # please keep its loading function consistent with test_pipeline (e.g. client)

demo/mono_det_demo.py

@@ -59,7 +59,7 @@ def main(args):
         data_sample=result,
         draw_gt=False,
         show=args.show,
-        wait_time=0,
+        wait_time=-1,
         out_file=args.out_dir,
         pred_score_thr=args.score_thr,
         vis_task='mono_det')

demo/multi_modality_demo.py

@@ -67,7 +67,7 @@ def main(args):
         data_sample=result,
         draw_gt=False,
         show=args.show,
-        wait_time=0,
+        wait_time=-1,
         out_file=args.out_dir,
         pred_score_thr=args.score_thr,
         vis_task='multi-modality_det')

demo/pcd_demo.py

@@ -49,7 +49,7 @@ def main(args):
         data_sample=result,
         draw_gt=False,
         show=args.show,
-        wait_time=0,
+        wait_time=-1,
         out_file=args.out_dir,
         pred_score_thr=args.score_thr,
         vis_task='lidar_det')

demo/pcd_seg_demo.py

@@ -45,7 +45,7 @@ def main(args):
         data_sample=result,
         draw_gt=False,
         show=args.show,
-        wait_time=0,
+        wait_time=-1,
         out_file=args.out_dir,
         vis_task='lidar_seg')
 

mmdet3d/engine/hooks/visualization_hook.py

@@ -7,6 +7,7 @@
 import numpy as np
 from mmengine.fileio import get
 from mmengine.hooks import Hook
+from mmengine.logging import print_log
 from mmengine.runner import Runner
 from mmengine.utils import mkdir_or_exist
 from mmengine.visualization import Visualizer
@@ -56,6 +57,8 @@ def __init__(self,
                  vis_task: str = 'mono_det',
                  wait_time: float = 0.,
                  test_out_dir: Optional[str] = None,
+                 draw_gt: bool = True,
+                 draw_pred: bool = True,
                  backend_args: Optional[dict] = None):
         self._visualizer: Visualizer = Visualizer.get_current_instance()
         self.interval = interval
@@ -70,11 +73,20 @@ def __init__(self,
                           'needs to be excluded.')
         self.vis_task = vis_task
 
+        if wait_time == -1:
+            print_log(
+                'Manual control mode, press [Right] to next sample.',
+                logger='current')
+        else:
+            print_log(
+                'Autoplay mode, press [SPACE] to pause.', logger='current')
         self.wait_time = wait_time
         self.backend_args = backend_args
         self.draw = draw
         self.test_out_dir = test_out_dir
         self._test_index = 0
+        self.draw_gt = draw_gt
+        self.draw_pred = draw_pred
 
     def after_val_iter(self, runner: Runner, batch_idx: int, data_batch: dict,
                        outputs: Sequence[Det3DDataSample]) -> None:
@@ -208,6 +220,8 @@ def after_test_iter(self, runner: Runner, batch_idx: int, data_batch: dict,
                 'test sample',
                 data_input,
                 data_sample=data_sample,
+                draw_gt=self.draw_gt,
+                draw_pred=self.draw_pred,
                 show=self.show,
                 vis_task=self.vis_task,
                 wait_time=self.wait_time,