Support waymo_info_test.pkl and ImageSets generating

[ZLTJohn]

Motivation

Currently, mmdet3d-dev1.x cannot generate waymo_info_test.pkl for testing or testing_camera_only properly.
This PR is aiming at fixing it.

Modification

1. create_data.py
   • Add function call create_ImageSets_img_ids() to generate ImageSets according to data in kitti_format/
   • Add function call update_pkl_infos('waymo', out_dir=out_dir, pkl_path=test_path) to update test info generated in kitti.create_waymo_info_file(...)
2. kitti_data_utils.py
   • Detach timestamp collecting from velodyne_path collecting. timestamp is very important link between kitti_format data and tfrecords data, so we still need to collect it even if no lidar data provided. PR More customizable and Faster waymo evaluation #2179 also need timestamps in waymo_infos_*.pkl to generate idx2metainfo.pkl
3. updata_infos_to_v2.py
   • Use dict.get(key) methods instead of dict[key] methods to support updating info files without lidar data or annotations. Now function update_waymo_infos is able to update waymo_infos_test.pkl or the camera-only one.
4. waymo_converter.py
   • Delete this line and add if range_image_top_pose is None: return in function save_lidar. In this way, we don't need to judge if the split is camera_only or not.
   • [TODO] We can also promt user that we lack lidar data in that split.
   • Add create_ImageSets_img_ids to support ImageSets generating.

Issue

Currently the easiest way to generate waymo camera-only test set pkl file is renaming testing_3d_camera_only_detection to testing, and turn off velodyne in WaymoInfoGatherer. Actually, simply adding an item could only generate cam-only test data in kitti_format but offers no pkl file. How do we plan to fix it?

[codecov]

Codecov Report

Base: 45.23% // Head: 45.23% // No change to project coverage 👍

Coverage data is based on head (9dd1f15) compared to base (edc468b).
Patch has no changes to coverable lines.

❗ Current head 9dd1f15 differs from pull request most recent head 008131d. Consider uploading reports for the commit 008131d to get more accurate results

Additional details and impacted files

@@           Coverage Diff            @@
##           dev-1.x    #2180   +/-   ##
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  Coverage    45.23%   45.23%           
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  Files          253      253           
  Lines        20729    20729           
  Branches      3275     3275           
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  Hits          9377     9377           
  Misses       10733    10733           
  Partials       619      619           

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[Tai-Wang]

Please @lianqing11 double-check.