[Feature] Add shape-aware grouping head in SSN (#147)

* Add shape-aware grouping head

* Reformat docstrings

* Remove rewritten get_anchors in shape_aware_head

* Refactor and simplify shape-aware grouping head

* Fix docstring

* Remove fixed preset shape heads

* Add unittest for AlignedAnchor3DRangeGeneratorPerCls

* Add unittest for get bboxes in shape_aware_head

* Add unittest for loss of shape_aware_head

* Fix unstandard docstrings

* Minor fix for a comment

* Add assertion to make sure not all boxes are filtered

mmdet3d/core/anchor/__init__.py

 from mmdet.core.anchor import build_anchor_generator
 from .anchor_3d_generator import (AlignedAnchor3DRangeGenerator,
+                                  AlignedAnchor3DRangeGeneratorPerCls,
                                   Anchor3DRangeGenerator)
 
 __all__ = [
     'AlignedAnchor3DRangeGenerator', 'Anchor3DRangeGenerator',
-    'build_anchor_generator'
+    'build_anchor_generator', 'AlignedAnchor3DRangeGeneratorPerCls'
 ]

mmdet3d/core/anchor/anchor_3d_generator.py

@@ -323,3 +323,81 @@ class AlignedAnchor3DRangeGenerator(Anchor3DRangeGenerator):
             # custom[:] = self.custom_values
             ret = torch.cat([ret, custom], dim=-1)
         return ret
+
+
+@ANCHOR_GENERATORS.register_module()
+class AlignedAnchor3DRangeGeneratorPerCls(AlignedAnchor3DRangeGenerator):
+    """3D Anchor Generator by range for per class.
+
+    This anchor generator generates anchors by the given range for per class.
+    Note that feature maps of different classes may be different.
+
+    Args:
+        kwargs (dict): Arguments are the same as those in \
+            :class:`AlignedAnchor3DRangeGenerator`.
+    """
+
+    def __init__(self, **kwargs):
+        super(AlignedAnchor3DRangeGeneratorPerCls, self).__init__(**kwargs)
+        assert len(self.scales) == 1, 'Multi-scale feature map levels are' + \
+            ' not supported currently in this kind of anchor generator.'
+
+    def grid_anchors(self, featmap_sizes, device='cuda'):
+        """Generate grid anchors in multiple feature levels.
+
+        Args:
+            featmap_sizes (list[tuple]): List of feature map sizes for \
+                different classes in a single feature level.
+            device (str): Device where the anchors will be put on.
+
+        Returns:
+            list[list[torch.Tensor]]: Anchors in multiple feature levels. \
+                Note that in this anchor generator, we currently only \
+                support single feature level. The sizes of each tensor \
+                should be [num_sizes/ranges*num_rots*featmap_size, \
+                box_code_size].
+        """
+        multi_level_anchors = []
+        anchors = self.multi_cls_grid_anchors(
+            featmap_sizes, self.scales[0], device=device)
+        multi_level_anchors.append(anchors)
+        return multi_level_anchors
+
+    def multi_cls_grid_anchors(self, featmap_sizes, scale, device='cuda'):
+        """Generate grid anchors of a single level feature map for multi-class
+        with different feature map sizes.
+
+        This function is usually called by method ``self.grid_anchors``.
+
+        Args:
+            featmap_sizes (list[tuple]): List of feature map sizes for \
+                different classes in a single feature level.
+            scale (float): Scale factor of the anchors in the current level.
+            device (str, optional): Device the tensor will be put on.
+                Defaults to 'cuda'.
+
+        Returns:
+            torch.Tensor: Anchors in the overall feature map.
+        """
+        assert len(featmap_sizes) == len(self.sizes) == len(self.ranges), \
+            'The number of different feature map sizes anchor sizes and ' + \
+            'ranges should be the same.'
+
+        multi_cls_anchors = []
+        for i in range(len(featmap_sizes)):
+            anchors = self.anchors_single_range(
+                featmap_sizes[i],
+                self.ranges[i],
+                scale,
+                self.sizes[i],
+                self.rotations,
+                device=device)
+            # [*featmap_size, num_sizes/ranges, num_rots, box_code_size]
+            ndim = len(featmap_sizes[i])
+            anchors = anchors.view(*featmap_sizes[i], -1, anchors.size(-1))
+            # [*featmap_size, num_sizes/ranges*num_rots, box_code_size]
+            anchors = anchors.permute(ndim, *range(0, ndim), ndim + 1)
+            # [num_sizes/ranges*num_rots, *featmap_size, box_code_size]
+            multi_cls_anchors.append(anchors.reshape(-1, anchors.size(-1)))
+            # [num_sizes/ranges*num_rots*featmap_size, box_code_size]
+        return multi_cls_anchors

mmdet3d/models/dense_heads/__init__.py

@@ -3,10 +3,11 @@ from .base_conv_bbox_head import BaseConvBboxHead
 from .centerpoint_head import CenterHead
 from .free_anchor3d_head import FreeAnchor3DHead
 from .parta2_rpn_head import PartA2RPNHead
+from .shape_aware_head import ShapeAwareHead
 from .ssd_3d_head import SSD3DHead
 from .vote_head import VoteHead
 
 __all__ = [
     'Anchor3DHead', 'FreeAnchor3DHead', 'PartA2RPNHead', 'VoteHead',
-    'SSD3DHead', 'BaseConvBboxHead', 'CenterHead'
+    'SSD3DHead', 'BaseConvBboxHead', 'CenterHead', 'ShapeAwareHead'
 ]

mmdet3d/models/dense_heads/train_mixins.py

@@ -40,14 +40,24 @@ class AnchorTrainMixin(object):
         num_imgs = len(input_metas)
         assert len(anchor_list) == num_imgs
 
-        # anchor number of multi levels
-        num_level_anchors = [
-            anchors.view(-1, self.box_code_size).size(0)
-            for anchors in anchor_list[0]
-        ]
-        # concat all level anchors and flags to a single tensor
-        for i in range(num_imgs):
-            anchor_list[i] = torch.cat(anchor_list[i])
+        if isinstance(anchor_list[0][0], list):
+            # sizes of anchors are different
+            # anchor number of a single level
+            num_level_anchors = [
+                sum([anchor.size(0) for anchor in anchors])
+                for anchors in anchor_list[0]
+            ]
+            for i in range(num_imgs):
+                anchor_list[i] = anchor_list[i][0]
+        else:
+            # anchor number of multi levels
+            num_level_anchors = [
+                anchors.view(-1, self.box_code_size).size(0)
+                for anchors in anchor_list[0]
+            ]
+            # concat all level anchors and flags to a single tensor
+            for i in range(num_imgs):
+                anchor_list[i] = torch.cat(anchor_list[i])
 
         # compute targets for each image
         if gt_bboxes_ignore_list is None:
@@ -112,7 +122,8 @@ class AnchorTrainMixin(object):
         Returns:
             tuple[torch.Tensor]: Anchor targets.
         """
-        if isinstance(self.bbox_assigner, list):
+        if isinstance(self.bbox_assigner,
+                      list) and (not isinstance(anchors, list)):
             feat_size = anchors.size(0) * anchors.size(1) * anchors.size(2)
             rot_angles = anchors.size(-2)
             assert len(self.bbox_assigner) == anchors.size(-3)
@@ -129,12 +140,11 @@ class AnchorTrainMixin(object):
                     anchor_targets = self.anchor_target_single_assigner(
                         assigner, current_anchors, gt_bboxes[gt_per_cls, :],
                         gt_bboxes_ignore, gt_labels[gt_per_cls], input_meta,
-                        label_channels, num_classes, sampling)
+                        num_classes, sampling)
                 else:
                     anchor_targets = self.anchor_target_single_assigner(
                         assigner, current_anchors, gt_bboxes, gt_bboxes_ignore,
-                        gt_labels, input_meta, label_channels, num_classes,
-                        sampling)
+                        gt_labels, input_meta, num_classes, sampling)
 
                 (labels, label_weights, bbox_targets, bbox_weights,
                  dir_targets, dir_weights, pos_inds, neg_inds) = anchor_targets
@@ -170,10 +180,59 @@ class AnchorTrainMixin(object):
             return (total_labels, total_label_weights, total_bbox_targets,
                     total_bbox_weights, total_dir_targets, total_dir_weights,
                     total_pos_inds, total_neg_inds)
+        elif isinstance(self.bbox_assigner, list) and isinstance(
+                anchors, list):
+            # class-aware anchors with different feature map sizes
+            assert len(self.bbox_assigner) == len(anchors), \
+                'The number of bbox assigners and anchors should be the same.'
+            (total_labels, total_label_weights, total_bbox_targets,
+             total_bbox_weights, total_dir_targets, total_dir_weights,
+             total_pos_inds, total_neg_inds) = [], [], [], [], [], [], [], []
+            current_anchor_num = 0
+            for i, assigner in enumerate(self.bbox_assigner):
+                current_anchors = anchors[i]
+                current_anchor_num += current_anchors.size(0)
+                if self.assign_per_class:
+                    gt_per_cls = (gt_labels == i)
+                    anchor_targets = self.anchor_target_single_assigner(
+                        assigner, current_anchors, gt_bboxes[gt_per_cls, :],
+                        gt_bboxes_ignore, gt_labels[gt_per_cls], input_meta,
+                        num_classes, sampling)
+                else:
+                    anchor_targets = self.anchor_target_single_assigner(
+                        assigner, current_anchors, gt_bboxes, gt_bboxes_ignore,
+                        gt_labels, input_meta, num_classes, sampling)
+
+                (labels, label_weights, bbox_targets, bbox_weights,
+                 dir_targets, dir_weights, pos_inds, neg_inds) = anchor_targets
+                total_labels.append(labels)
+                total_label_weights.append(label_weights)
+                total_bbox_targets.append(
+                    bbox_targets.reshape(-1, anchors[i].size(-1)))
+                total_bbox_weights.append(
+                    bbox_weights.reshape(-1, anchors[i].size(-1)))
+                total_dir_targets.append(dir_targets)
+                total_dir_weights.append(dir_weights)
+                total_pos_inds.append(pos_inds)
+                total_neg_inds.append(neg_inds)
+
+            total_labels = torch.cat(total_labels, dim=0)
+            total_label_weights = torch.cat(total_label_weights, dim=0)
+            total_bbox_targets = torch.cat(total_bbox_targets, dim=0)
+            total_bbox_weights = torch.cat(total_bbox_weights, dim=0)
+            total_dir_targets = torch.cat(total_dir_targets, dim=0)
+            total_dir_weights = torch.cat(total_dir_weights, dim=0)
+            total_pos_inds = torch.cat(total_pos_inds, dim=0)
+            total_neg_inds = torch.cat(total_neg_inds, dim=0)
+            return (total_labels, total_label_weights, total_bbox_targets,
+                    total_bbox_weights, total_dir_targets, total_dir_weights,
+                    total_pos_inds, total_neg_inds)
         else:
-            return self.anchor_target_single_assigner(
-                self.bbox_assigner, anchors, gt_bboxes, gt_bboxes_ignore,
-                gt_labels, input_meta, label_channels, num_classes, sampling)
+            return self.anchor_target_single_assigner(self.bbox_assigner,
+                                                      anchors, gt_bboxes,
+                                                      gt_bboxes_ignore,
+                                                      gt_labels, input_meta,
+                                                      num_classes, sampling)
 
     def anchor_target_single_assigner(self,
                                       bbox_assigner,
@@ -182,7 +241,6 @@ class AnchorTrainMixin(object):
                                       gt_bboxes_ignore,
                                       gt_labels,
                                       input_meta,
-                                      label_channels=1,
                                       num_classes=1,
                                       sampling=True):
         """Assign anchors and encode positive anchors.
@@ -194,7 +252,6 @@ class AnchorTrainMixin(object):
             gt_bboxes_ignore (torch.Tensor): Ignored gt bboxes.
             gt_labels (torch.Tensor): Gt class labels.
             input_meta (dict): Meta info of each image.
-            label_channels (int): The channel of labels.
             num_classes (int): The number of classes.
             sampling (bool): Whether to sample anchors.
 

tests/test_anchors.py

@@ -181,3 +181,58 @@ def test_aligned_anchor_generator():
         # set [:56:7] thus it could cover 8 (len(size) * len(rotations))
         # anchors on 8 location
         assert single_level_anchor[:56:7].allclose(expected_grid_anchors[i])
+
+
+def test_aligned_anchor_generator_per_cls():
+    if torch.cuda.is_available():
+        device = 'cuda'
+    else:
+        device = 'cpu'
+
+    anchor_generator_cfg = dict(
+        type='AlignedAnchor3DRangeGeneratorPerCls',
+        ranges=[[-100, -100, -1.80, 100, 100, -1.80],
+                [-100, -100, -1.30, 100, 100, -1.30]],
+        sizes=[[0.63, 1.76, 1.44], [0.96, 2.35, 1.59]],
+        custom_values=[0, 0],
+        rotations=[0, 1.57],
+        reshape_out=False)
+
+    featmap_sizes = [(100, 100), (50, 50)]
+    anchor_generator = build_anchor_generator(anchor_generator_cfg)
+
+    # check base anchors
+    expected_grid_anchors = [[
+        torch.tensor([[
+            -99.0000, -99.0000, -1.8000, 0.6300, 1.7600, 1.4400, 0.0000,
+            0.0000, 0.0000
+        ],
+                      [
+                          -99.0000, -99.0000, -1.8000, 0.6300, 1.7600, 1.4400,
+                          1.5700, 0.0000, 0.0000
+                      ]],
+                     device=device),
+        torch.tensor([[
+            -98.0000, -98.0000, -1.3000, 0.9600, 2.3500, 1.5900, 0.0000,
+            0.0000, 0.0000
+        ],
+                      [
+                          -98.0000, -98.0000, -1.3000, 0.9600, 2.3500, 1.5900,
+                          1.5700, 0.0000, 0.0000
+                      ]],
+                     device=device)
+    ]]
+    multi_level_anchors = anchor_generator.grid_anchors(
+        featmap_sizes, device=device)
+    expected_multi_level_shapes = [[
+        torch.Size([20000, 9]), torch.Size([5000, 9])
+    ]]
+    for i, single_level_anchor in enumerate(multi_level_anchors):
+        assert len(single_level_anchor) == len(expected_multi_level_shapes[i])
+        # set [:2*interval:interval] thus it could cover
+        # 2 (len(size) * len(rotations)) anchors on 2 location
+        # Note that len(size) for each class is always 1 in this case
+        for j in range(len(single_level_anchor)):
+            interval = int(expected_multi_level_shapes[i][j][0] / 2)
+            assert single_level_anchor[j][:2 * interval:interval].allclose(
+                expected_grid_anchors[i][j])

tests/test_heads.py

@@ -945,3 +945,102 @@ def test_ssd3d_head():
     assert results[0][0].tensor.shape[1] == 7
     assert results[0][1].shape[0] >= 0
     assert results[0][2].shape[0] >= 0
+
+
+def test_shape_aware_head_loss():
+    if not torch.cuda.is_available():
+        pytest.skip('test requires GPU and torch+cuda')
+    bbox_head_cfg = _get_pts_bbox_head_cfg(
+        'ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py')
+    # modify bn config to avoid bugs caused by syncbn
+    for task in bbox_head_cfg['tasks']:
+        task['norm_cfg'] = dict(type='BN2d')
+
+    from mmdet3d.models.builder import build_head
+    self = build_head(bbox_head_cfg)
+    self.cuda()
+    assert len(self.heads) == 4
+    assert isinstance(self.heads[0].conv_cls, torch.nn.modules.conv.Conv2d)
+    assert self.heads[0].conv_cls.in_channels == 64
+    assert self.heads[0].conv_cls.out_channels == 36
+    assert self.heads[0].conv_reg.out_channels == 28
+    assert self.heads[0].conv_dir_cls.out_channels == 8
+
+    # test forward
+    feats = list()
+    feats.append(torch.rand([2, 384, 200, 200], dtype=torch.float32).cuda())
+    (cls_score, bbox_pred, dir_cls_preds) = self.forward(feats)
+    assert cls_score[0].shape == torch.Size([2, 420000, 9])
+    assert bbox_pred[0].shape == torch.Size([2, 420000, 7])
+    assert dir_cls_preds[0].shape == torch.Size([2, 420000, 2])
+
+    # test loss
+    gt_bboxes = [
+        LiDARInstance3DBoxes(
+            torch.tensor(
+                [[-14.5695, -6.4169, -2.1054, 1.8830, 4.6720, 1.4840, 1.5587],
+                 [25.7215, 3.4581, -1.3456, 1.6720, 4.4090, 1.5830, 1.5301]],
+                dtype=torch.float32).cuda()),
+        LiDARInstance3DBoxes(
+            torch.tensor(
+                [[-50.763, -3.5517, -0.99658, 1.7430, 4.4020, 1.6990, 1.7874],
+                 [-68.720, 0.033, -0.75276, 1.7860, 4.9100, 1.6610, 1.7525]],
+                dtype=torch.float32).cuda())
+    ]
+    gt_labels = list(torch.tensor([[4, 4], [4, 4]], dtype=torch.int64).cuda())
+    input_metas = [{
+        'sample_idx': 1234
+    }, {
+        'sample_idx': 2345
+    }]  # fake input_metas
+
+    losses = self.loss(cls_score, bbox_pred, dir_cls_preds, gt_bboxes,
+                       gt_labels, input_metas)
+
+    assert losses['loss_cls'][0] > 0
+    assert losses['loss_bbox'][0] > 0
+    assert losses['loss_dir'][0] > 0
+
+    # test empty ground truth case
+    gt_bboxes = list(torch.empty((2, 0, 7)).cuda())
+    gt_labels = list(torch.empty((2, 0)).cuda())
+    empty_gt_losses = self.loss(cls_score, bbox_pred, dir_cls_preds, gt_bboxes,
+                                gt_labels, input_metas)
+    assert empty_gt_losses['loss_cls'][0] > 0
+    assert empty_gt_losses['loss_bbox'][0] == 0
+    assert empty_gt_losses['loss_dir'][0] == 0
+
+
+def test_shape_aware_head_getboxes():
+    if not torch.cuda.is_available():
+        pytest.skip('test requires GPU and torch+cuda')
+    bbox_head_cfg = _get_pts_bbox_head_cfg(
+        'ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py')
+    # modify bn config to avoid bugs caused by syncbn
+    for task in bbox_head_cfg['tasks']:
+        task['norm_cfg'] = dict(type='BN2d')
+
+    from mmdet3d.models.builder import build_head
+    self = build_head(bbox_head_cfg)
+    self.cuda()
+
+    feats = list()
+    feats.append(torch.rand([2, 384, 200, 200], dtype=torch.float32).cuda())
+    # fake input_metas
+    input_metas = [{
+        'sample_idx': 1234,
+        'box_type_3d': LiDARInstance3DBoxes,
+        'box_mode_3d': Box3DMode.LIDAR
+    }, {
+        'sample_idx': 2345,
+        'box_type_3d': LiDARInstance3DBoxes,
+        'box_mode_3d': Box3DMode.LIDAR
+    }]
+    (cls_score, bbox_pred, dir_cls_preds) = self.forward(feats)
+
+    # test get_bboxes
+    cls_score[0] -= 1.5  # too many positive samples may cause cuda oom
+    result_list = self.get_bboxes(cls_score, bbox_pred, dir_cls_preds,
+                                  input_metas)
+    assert len(result_list[0][1]) > 0  # ensure not all boxes are filtered
+    assert (result_list[0][1] > 0.3).all()