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Commit b77a77d4 authored by zhangwenwei's avatar zhangwenwei
Browse files

Merge branch 'depth_box3d' into 'master' 

Depth box3d

See merge request open-mmlab/mmdet.3d!52
parents 7a129d97 30101f73
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Showing with 515 additions and 71 deletions
mmdet3d/core/bbox/__init__.py
View file @ b77a77d4
...@@ -7,7 +7,8 @@ from .iou_calculators import (BboxOverlaps3D, BboxOverlapsNearest3D, ...@@ -7,7 +7,8 @@ from .iou_calculators import (BboxOverlaps3D, BboxOverlapsNearest3D,
from .samplers import (BaseSampler, CombinedSampler, from .samplers import (BaseSampler, CombinedSampler,
InstanceBalancedPosSampler, IoUBalancedNegSampler, InstanceBalancedPosSampler, IoUBalancedNegSampler,
PseudoSampler, RandomSampler, SamplingResult) PseudoSampler, RandomSampler, SamplingResult)
from .structures import Box3DMode, CameraInstance3DBoxes, LiDARInstance3DBoxes from .structures import (Box3DMode, CameraInstance3DBoxes,
DepthInstance3DBoxes, LiDARInstance3DBoxes)
from .transforms import (bbox3d2result, bbox3d2roi, from .transforms import (bbox3d2result, bbox3d2roi,
box3d_to_corner3d_upright_depth, box3d_to_corner3d_upright_depth,
boxes3d_to_bev_torch_lidar) boxes3d_to_bev_torch_lidar)
...@@ -25,5 +26,5 @@ __all__ = [ ...@@ -25,5 +26,5 @@ __all__ = [
'BboxOverlapsNearest3D', 'BboxOverlaps3D', 'bbox_overlaps_nearest_3d', 'BboxOverlapsNearest3D', 'BboxOverlaps3D', 'bbox_overlaps_nearest_3d',
'bbox_overlaps_3d', 'Box3DMode', 'LiDARInstance3DBoxes', 'bbox_overlaps_3d', 'Box3DMode', 'LiDARInstance3DBoxes',
'CameraInstance3DBoxes', 'bbox3d2roi', 'bbox3d2result', 'CameraInstance3DBoxes', 'bbox3d2roi', 'bbox3d2result',
'box3d_to_corner3d_upright_depth' 'box3d_to_corner3d_upright_depth', 'DepthInstance3DBoxes'
] ]
mmdet3d/core/bbox/structures/__init__.py
View file @ b77a77d4
from .box_3d_mode import Box3DMode from .box_3d_mode import Box3DMode
from .cam_box3d import CameraInstance3DBoxes from .cam_box3d import CameraInstance3DBoxes
from .depth_box3d import DepthInstance3DBoxes
from .lidar_box3d import LiDARInstance3DBoxes from .lidar_box3d import LiDARInstance3DBoxes
__all__ = ['Box3DMode', 'LiDARInstance3DBoxes', 'CameraInstance3DBoxes'] __all__ = [
'Box3DMode', 'LiDARInstance3DBoxes', 'CameraInstance3DBoxes',
'DepthInstance3DBoxes'
]
mmdet3d/core/bbox/structures/base_box3d.py
View file @ b77a77d4
...@@ -14,9 +14,11 @@ class BaseInstance3DBoxes(object): ...@@ -14,9 +14,11 @@ class BaseInstance3DBoxes(object):
tensor (torch.Tensor | np.ndarray): a Nxbox_dim matrix. tensor (torch.Tensor | np.ndarray): a Nxbox_dim matrix.
box_dim (int): number of the dimension of a box box_dim (int): number of the dimension of a box
Each row is (x, y, z, x_size, y_size, z_size, yaw). Each row is (x, y, z, x_size, y_size, z_size, yaw).
with_yaw (bool): if True, the value of yaw will be
set to 0 as minmax boxes.
""" """
def __init__(self, tensor, box_dim=7): def __init__(self, tensor, box_dim=7, with_yaw=True):
if isinstance(tensor, torch.Tensor): if isinstance(tensor, torch.Tensor):
device = tensor.device device = tensor.device
else: else:
...@@ -28,7 +30,15 @@ class BaseInstance3DBoxes(object): ...@@ -28,7 +30,15 @@ class BaseInstance3DBoxes(object):
tensor = tensor.reshape((0, box_dim)).to( tensor = tensor.reshape((0, box_dim)).to(
dtype=torch.float32, device=device) dtype=torch.float32, device=device)
assert tensor.dim() == 2 and tensor.size(-1) == box_dim, tensor.size() assert tensor.dim() == 2 and tensor.size(-1) == box_dim, tensor.size()
self.box_dim = box_dim
if not with_yaw and tensor.shape[-1] == 6:
assert box_dim == 6
fake_rot = tensor.new_zeros(tensor.shape[0], 1)
tensor = torch.cat((tensor, fake_rot), dim=-1)
self.box_dim = box_dim + 1
else:
self.box_dim = box_dim
self.with_yaw = with_yaw
self.tensor = tensor self.tensor = tensor
@property @property
...@@ -135,8 +145,8 @@ class BaseInstance3DBoxes(object): ...@@ -135,8 +145,8 @@ class BaseInstance3DBoxes(object):
pass pass
@abstractmethod @abstractmethod
def flip(self): def flip(self, bev_direction='horizontal'):
"""Flip the boxes in horizontal direction """Flip the boxes in BEV along given BEV direction
""" """
pass pass
...@@ -184,8 +194,8 @@ class BaseInstance3DBoxes(object): ...@@ -184,8 +194,8 @@ class BaseInstance3DBoxes(object):
(x_min, y_min, x_max, y_max) (x_min, y_min, x_max, y_max)
Returns: Returns:
a binary vector, indicating whether each box is inside torch.Tensor: Indicating whether each box is inside
the reference range. the reference range.
""" """
pass pass
...@@ -193,8 +203,7 @@ class BaseInstance3DBoxes(object): ...@@ -193,8 +203,7 @@ class BaseInstance3DBoxes(object):
"""Scale the box with horizontal and vertical scaling factors """Scale the box with horizontal and vertical scaling factors
Args: Args:
scale_factors (float): scale_factors (float): scale factors to scale the boxes.
scale factors to scale the boxes.
""" """
self.tensor[:, :6] *= scale_factor self.tensor[:, :6] *= scale_factor
self.tensor[:, 7:] *= scale_factor self.tensor[:, 7:] *= scale_factor
...@@ -218,9 +227,8 @@ class BaseInstance3DBoxes(object): ...@@ -218,9 +227,8 @@ class BaseInstance3DBoxes(object):
threshold (float): the threshold of minimal sizes threshold (float): the threshold of minimal sizes
Returns: Returns:
Tensor: torch.Tensor: a binary vector which represents whether each
a binary vector which represents whether each box is empty box is empty (False) or non-empty (True).
(False) or non-empty (True).
""" """
box = self.tensor box = self.tensor
size_x = box[..., 3] size_x = box[..., 3]
...@@ -245,15 +253,19 @@ class BaseInstance3DBoxes(object): ...@@ -245,15 +253,19 @@ class BaseInstance3DBoxes(object):
subject to Pytorch's indexing semantics. subject to Pytorch's indexing semantics.
Returns: Returns:
Boxes: Create a new :class:`Boxes` by indexing. BaseInstance3DBoxes: Create a new :class:`BaseInstance3DBoxes`
by indexing.
""" """
original_type = type(self) original_type = type(self)
if isinstance(item, int): if isinstance(item, int):
return original_type(self.tensor[item].view(1, -1)) return original_type(
self.tensor[item].view(1, -1),
box_dim=self.box_dim,
with_yaw=self.with_yaw)
b = self.tensor[item] b = self.tensor[item]
assert b.dim() == 2, \ assert b.dim() == 2, \
f'Indexing on Boxes with {item} failed to return a matrix!' f'Indexing on Boxes with {item} failed to return a matrix!'
return original_type(b) return original_type(b, box_dim=self.box_dim, with_yaw=self.with_yaw)
def __len__(self): def __len__(self):
return self.tensor.shape[0] return self.tensor.shape[0]
...@@ -283,24 +295,30 @@ class BaseInstance3DBoxes(object): ...@@ -283,24 +295,30 @@ class BaseInstance3DBoxes(object):
def to(self, device): def to(self, device):
original_type = type(self) original_type = type(self)
return original_type(self.tensor.to(device)) return original_type(
self.tensor.to(device),
box_dim=self.box_dim,
with_yaw=self.with_yaw)
def clone(self): def clone(self):
"""Clone the Boxes. """Clone the Boxes.
Returns: Returns:
Boxes BaseInstance3DBoxes: Box object with the same properties as self.
""" """
original_type = type(self) original_type = type(self)
return original_type(self.tensor.clone()) return original_type(
self.tensor.clone(), box_dim=self.box_dim, with_yaw=self.with_yaw)
@property @property
def device(self): def device(self):
return self.tensor.device return self.tensor.device
def __iter__(self): def __iter__(self):
""" """Yield a box as a Tensor of shape (4,) at a time.
Yield a box as a Tensor of shape (4,) at a time.
Returns:
torch.Tensor: a box of shape (4,).
""" """
yield from self.tensor yield from self.tensor
...@@ -387,3 +405,22 @@ class BaseInstance3DBoxes(object): ...@@ -387,3 +405,22 @@ class BaseInstance3DBoxes(object):
iou3d = overlaps_3d / torch.clamp(volume1, min=1e-8) iou3d = overlaps_3d / torch.clamp(volume1, min=1e-8)
return iou3d return iou3d
def new_box(self, data):
"""Create a new box object with data.
The new box and its tensor has the similar properties
as self and self.tensor, respectively.
Args:
data (torch.Tensor | numpy.array | list): Data which the
returned Tensor copies.
Returns:
BaseInstance3DBoxes: A new bbox with data and other
properties are similar to self.
"""
new_tensor = self.tensor.new_tensor(data)
original_type = type(self)
return original_type(
new_tensor, box_dim=self.box_dim, with_yaw=self.with_yaw)
mmdet3d/core/bbox/structures/box_3d_mode.py
View file @ b77a77d4
...@@ -5,6 +5,7 @@ import torch ...@@ -5,6 +5,7 @@ import torch
from .base_box3d import BaseInstance3DBoxes from .base_box3d import BaseInstance3DBoxes
from .cam_box3d import CameraInstance3DBoxes from .cam_box3d import CameraInstance3DBoxes
from .depth_box3d import DepthInstance3DBoxes
from .lidar_box3d import LiDARInstance3DBoxes from .lidar_box3d import LiDARInstance3DBoxes
...@@ -61,7 +62,8 @@ class Box3DMode(IntEnum): ...@@ -61,7 +62,8 @@ class Box3DMode(IntEnum):
"""Convert boxes from `src` mode to `dst` mode. """Convert boxes from `src` mode to `dst` mode.
Args: Args:
box (tuple | list | np.ndarray | torch.Tensor): box (tuple | list | np.ndarray |
torch.Tensor | BaseInstance3DBoxes):
can be a k-tuple, k-list or an Nxk array/tensor, where k = 7 can be a k-tuple, k-list or an Nxk array/tensor, where k = 7
src (BoxMode): the src Box mode src (BoxMode): the src Box mode
dst (BoxMode): the target Box mode dst (BoxMode): the target Box mode
...@@ -113,6 +115,14 @@ class Box3DMode(IntEnum): ...@@ -113,6 +115,14 @@ class Box3DMode(IntEnum):
if rt_mat is None: if rt_mat is None:
rt_mat = arr.new_tensor([[1, 0, 0], [0, 0, -1], [0, 1, 0]]) rt_mat = arr.new_tensor([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
xyz_size = torch.cat([x_size, z_size, y_size], dim=-1) xyz_size = torch.cat([x_size, z_size, y_size], dim=-1)
elif src == Box3DMode.LIDAR and dst == Box3DMode.DEPTH:
if rt_mat is None:
rt_mat = arr.new_tensor([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
xyz_size = torch.cat([y_size, x_size, z_size], dim=-1)
elif src == Box3DMode.DEPTH and dst == Box3DMode.LIDAR:
if rt_mat is None:
rt_mat = arr.new_tensor([[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
xyz_size = torch.cat([y_size, x_size, z_size], dim=-1)
else: else:
raise NotImplementedError( raise NotImplementedError(
f'Conversion from Box3DMode {src} to {dst} ' f'Conversion from Box3DMode {src} to {dst} '
...@@ -141,10 +151,13 @@ class Box3DMode(IntEnum): ...@@ -141,10 +151,13 @@ class Box3DMode(IntEnum):
target_type = CameraInstance3DBoxes target_type = CameraInstance3DBoxes
elif dst == Box3DMode.LIDAR: elif dst == Box3DMode.LIDAR:
target_type = LiDARInstance3DBoxes target_type = LiDARInstance3DBoxes
elif dst == Box3DMode.DEPTH:
target_type = DepthInstance3DBoxes
else: else:
raise NotImplementedError( raise NotImplementedError(
f'Conversion to {dst} through {original_type}' f'Conversion to {dst} through {original_type}'
' is not supported yet') ' is not supported yet')
return target_type(arr, box_dim=arr.size(-1)) return target_type(
arr, box_dim=arr.size(-1), with_yaw=box.with_yaw)
else: else:
return arr return arr
mmdet3d/core/bbox/structures/cam_box3d.py
View file @ b77a77d4
...@@ -11,10 +11,10 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -11,10 +11,10 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
Coordinates in camera: Coordinates in camera:
.. code-block:: none .. code-block:: none
z front z front (yaw=0.5*pi)
/ /
/ /
0 ------> x right 0 ------> x right (yaw=0)
| |
| |
v v
...@@ -22,11 +22,15 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -22,11 +22,15 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
The relative coordinate of bottom center in a CAM box is [0.5, 1.0, 0.5], The relative coordinate of bottom center in a CAM box is [0.5, 1.0, 0.5],
and the yaw is around the y axis, thus the rotation axis=1. and the yaw is around the y axis, thus the rotation axis=1.
The yaw is 0 at the positive direction of x axis, and increases from
the positive direction of x to the positive direction of z.
Attributes: Attributes:
tensor (torch.Tensor): float matrix of N x box_dim. tensor (torch.Tensor): float matrix of N x box_dim.
box_dim (int): integer indicates the dimension of a box box_dim (int): integer indicates the dimension of a box
Each row is (x, y, z, x_size, y_size, z_size, yaw, ...). Each row is (x, y, z, x_size, y_size, z_size, yaw, ...).
with_yaw (bool): if True, the value of yaw will be
set to 0 as minmax boxes.
""" """
@property @property
...@@ -75,7 +79,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -75,7 +79,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
"""Calculate the coordinates of corners of all the boxes. """Calculate the coordinates of corners of all the boxes.
Convert the boxes to in clockwise order, in the form of Convert the boxes to in clockwise order, in the form of
(x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z0, x1y1z1) (x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z1, x1y1z0)
.. code-block:: none .. code-block:: none
...@@ -85,7 +89,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -85,7 +89,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
(x0, y0, z1) + ----------- + (x1, y0, z1) (x0, y0, z1) + ----------- + (x1, y0, z1)
/| / | /| / |
/ | / | / | / |
(x0, y0, z0) + ----------- + + (x1, y1, z0) (x0, y0, z0) + ----------- + + (x1, y1, z1)
| / . | / | / . | /
| / oriign | / | / oriign | /
(x0, y1, z0) + ----------- + -------> x right (x0, y1, z0) + ----------- + -------> x right
...@@ -123,7 +127,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -123,7 +127,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
return self.tensor[:, [0, 2, 3, 5, 6]] return self.tensor[:, [0, 2, 3, 5, 6]]
@property @property
def nearset_bev(self): def nearest_bev(self):
"""Calculate the 2D bounding boxes in BEV without rotation """Calculate the 2D bounding boxes in BEV without rotation
Returns: Returns:
...@@ -150,11 +154,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -150,11 +154,7 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
"""Calculate whether the points is in any of the boxes """Calculate whether the points is in any of the boxes
Args: Args:
angles (float | torch.Tensor): rotation angle angle (float | torch.Tensor): rotation angle
Returns:
None if `return_rot_mat=False`,
torch.Tensor if `return_rot_mat=True`
""" """
if not isinstance(angle, torch.Tensor): if not isinstance(angle, torch.Tensor):
angle = self.tensor.new_tensor(angle) angle = self.tensor.new_tensor(angle)
...@@ -166,13 +166,23 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -166,13 +166,23 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T
self.tensor[:, 6] += angle self.tensor[:, 6] += angle
def flip(self): def flip(self, bev_direction='horizontal'):
"""Flip the boxes in horizontal direction """Flip the boxes in BEV along given BEV direction
In CAM coordinates, it flips the x axis. In CAM coordinates, it flips the x (horizontal) or z (vertical) axis.
Args:
bev_direction (str): Flip direction (horizontal or vertical).
""" """
self.tensor[:, 0::7] = -self.tensor[:, 0::7] assert bev_direction in ('horizontal', 'vertical')
self.tensor[:, 6] = -self.tensor[:, 6] + np.pi if bev_direction == 'horizontal':
self.tensor[:, 0::7] = -self.tensor[:, 0::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6] + np.pi
elif bev_direction == 'vertical':
self.tensor[:, 2::7] = -self.tensor[:, 2::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6]
def in_range_bev(self, box_range): def in_range_bev(self, box_range):
"""Check whether the boxes are in the given range """Check whether the boxes are in the given range
...@@ -188,8 +198,8 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes): ...@@ -188,8 +198,8 @@ class CameraInstance3DBoxes(BaseInstance3DBoxes):
TODO: check whether this will effect the performance TODO: check whether this will effect the performance
Returns: Returns:
a binary vector, indicating whether each box is inside torch.Tensor: Indicating whether each box is inside
the reference range. the reference range.
""" """
in_range_flags = ((self.tensor[:, 0] > box_range[0]) in_range_flags = ((self.tensor[:, 0] > box_range[0])
& (self.tensor[:, 2] > box_range[1]) & (self.tensor[:, 2] > box_range[1])
......
mmdet3d/core/bbox/structures/depth_box3d.py 0 → 100644
View file @ b77a77d4
import numpy as np
import torch
from .base_box3d import BaseInstance3DBoxes
from .utils import limit_period, rotation_3d_in_axis
class DepthInstance3DBoxes(BaseInstance3DBoxes):
"""3D boxes of instances in Depth coordinates
Coordinates in Depth:
.. code-block:: none
up z y front (yaw=0.5*pi)
^ ^
| /
| /
0 ------> x right (yaw=0)
The relative coordinate of bottom center in a Depth box is [0.5, 0.5, 0],
and the yaw is around the z axis, thus the rotation axis=2.
The yaw is 0 at the positive direction of x axis, and increases from
the positive direction of x to the positive direction of y.
Attributes:
tensor (torch.Tensor): float matrix of N x box_dim.
box_dim (int): integer indicates the dimension of a box
Each row is (x, y, z, x_size, y_size, z_size, yaw, ...).
with_yaw (bool): if True, the value of yaw will be
set to 0 as minmax boxes.
"""
@property
def gravity_center(self):
"""Calculate the gravity center of all the boxes.
Returns:
torch.Tensor: a tensor with center of each box.
"""
bottom_center = self.bottom_center
gravity_center = torch.zeros_like(bottom_center)
gravity_center[:, :2] = bottom_center[:, :2]
gravity_center[:, 2] = bottom_center[:, 2] + self.tensor[:, 5] * 0.5
return gravity_center
@property
def corners(self):
"""Calculate the coordinates of corners of all the boxes.
Convert the boxes to corners in clockwise order, in form of
(x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z1, x1y1z0)
.. code-block:: none
up z
front y ^
/ |
/ |
(x0, y1, z1) + ----------- + (x1, y1, z1)
/| / |
/ | / |
(x0, y0, z1) + ----------- + + (x1, y1, z0)
| / . | /
| / oriign | /
(x0, y0, z0) + ----------- + --------> right x
(x1, y0, z0)
Returns:
torch.Tensor: corners of each box with size (N, 8, 3)
"""
dims = self.dims
corners_norm = torch.from_numpy(
np.stack(np.unravel_index(np.arange(8), [2] * 3), axis=1)).to(
device=dims.device, dtype=dims.dtype)
corners_norm = corners_norm[[0, 1, 3, 2, 4, 5, 7, 6]]
# use relative origin [0.5, 0.5, 0]
corners_norm = corners_norm - dims.new_tensor([0.5, 0.5, 0])
corners = dims.view([-1, 1, 3]) * corners_norm.reshape([1, 8, 3])
# rotate around z axis
corners = rotation_3d_in_axis(corners, self.tensor[:, 6], axis=2)
corners += self.tensor[:, :3].view(-1, 1, 3)
return corners
@property
def bev(self):
"""Calculate the 2D bounding boxes in BEV with rotation
Returns:
torch.Tensor: a nx5 tensor of 2D BEV box of each box.
The box is in XYWHR format
"""
return self.tensor[:, [0, 1, 3, 4, 6]]
@property
def nearest_bev(self):
"""Calculate the 2D bounding boxes in BEV without rotation
Returns:
torch.Tensor: a tensor of 2D BEV box of each box.
"""
# Obtain BEV boxes with rotation in XYWHR format
bev_rotated_boxes = self.bev
# convert the rotation to a valid range
rotations = bev_rotated_boxes[:, -1]
normed_rotations = torch.abs(limit_period(rotations, 0.5, np.pi))
# find the center of boxes
conditions = (normed_rotations > np.pi / 4)[..., None]
bboxes_xywh = torch.where(conditions, bev_rotated_boxes[:,
[0, 1, 3, 2]],
bev_rotated_boxes[:, :4])
centers = bboxes_xywh[:, :2]
dims = bboxes_xywh[:, 2:]
bev_boxes = torch.cat([centers - dims / 2, centers + dims / 2], dim=-1)
return bev_boxes
def rotate(self, angle):
"""Calculate whether the points is in any of the boxes
Args:
angle (float | torch.Tensor): rotation angle
"""
if not isinstance(angle, torch.Tensor):
angle = self.tensor.new_tensor(angle)
rot_sin = torch.sin(angle)
rot_cos = torch.cos(angle)
rot_mat = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
[rot_sin, rot_cos, 0], [0, 0, 1]])
self.tensor[:, 0:3] = self.tensor[:, 0:3] @ rot_mat.T
if self.with_yaw:
self.tensor[:, 6] -= angle
else:
corners_rot = self.corners @ rot_mat.T
new_x_size = corners_rot[..., 0].max(
dim=1, keepdim=True)[0] - corners_rot[..., 0].min(
dim=1, keepdim=True)[0]
new_y_size = corners_rot[..., 1].max(
dim=1, keepdim=True)[0] - corners_rot[..., 1].min(
dim=1, keepdim=True)[0]
self.tensor[:, 3:5] = torch.cat((new_x_size, new_y_size), dim=-1)
def flip(self, bev_direction='horizontal'):
"""Flip the boxes in BEV along given BEV direction
In Depth coordinates, it flips x (horizontal) or y (vertical) axis.
Args:
bev_direction (str): Flip direction (horizontal or vertical).
"""
assert bev_direction in ('horizontal', 'vertical')
if bev_direction == 'horizontal':
self.tensor[:, 0::7] = -self.tensor[:, 0::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6] + np.pi
elif bev_direction == 'vertical':
self.tensor[:, 1::7] = -self.tensor[:, 1::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6]
def in_range_bev(self, box_range):
"""Check whether the boxes are in the given range
Args:
box_range (list | torch.Tensor): the range of box
(x_min, y_min, x_max, y_max)
Note:
In the original implementation of SECOND, checking whether
a box in the range checks whether the points are in a convex
polygon, we try to reduce the burdun for simpler cases.
TODO: check whether this will effect the performance
Returns:
torch.Tensor: Indicating whether each box is inside
the reference range.
"""
in_range_flags = ((self.tensor[:, 0] > box_range[0])
& (self.tensor[:, 1] > box_range[1])
& (self.tensor[:, 0] < box_range[2])
& (self.tensor[:, 1] < box_range[3]))
return in_range_flags
mmdet3d/core/bbox/structures/lidar_box3d.py
View file @ b77a77d4
...@@ -11,19 +11,23 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -11,19 +11,23 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
Coordinates in LiDAR: Coordinates in LiDAR:
.. code-block:: none .. code-block:: none
up z x front up z x front (yaw=0.5*pi)
^ ^ ^ ^
| / | /
| / | /
left y <------ 0 (yaw=pi) left y <------ 0
The relative coordinate of bottom center in a LiDAR box is [0.5, 0.5, 0], The relative coordinate of bottom center in a LiDAR box is [0.5, 0.5, 0],
and the yaw is around the z axis, thus the rotation axis=2. and the yaw is around the z axis, thus the rotation axis=2.
The yaw is 0 at the negative direction of y axis, and increases from
the negative direction of y to the positive direction of x.
Attributes: Attributes:
tensor (torch.Tensor): float matrix of N x box_dim. tensor (torch.Tensor): float matrix of N x box_dim.
box_dim (int): integer indicates the dimension of a box box_dim (int): integer indicates the dimension of a box
Each row is (x, y, z, x_size, y_size, z_size, yaw, ...). Each row is (x, y, z, x_size, y_size, z_size, yaw, ...).
with_yaw (bool): if True, the value of yaw will be
set to 0 as minmax boxes.
""" """
@property @property
...@@ -44,7 +48,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -44,7 +48,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
"""Calculate the coordinates of corners of all the boxes. """Calculate the coordinates of corners of all the boxes.
Convert the boxes to corners in clockwise order, in form of Convert the boxes to corners in clockwise order, in form of
(x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z0, x1y1z1) (x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z1, x1y1z0)
.. code-block:: none .. code-block:: none
...@@ -90,7 +94,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -90,7 +94,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
return self.tensor[:, [0, 1, 3, 4, 6]] return self.tensor[:, [0, 1, 3, 4, 6]]
@property @property
def nearset_bev(self): def nearest_bev(self):
"""Calculate the 2D bounding boxes in BEV without rotation """Calculate the 2D bounding boxes in BEV without rotation
Returns: Returns:
...@@ -117,11 +121,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -117,11 +121,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
"""Calculate whether the points is in any of the boxes """Calculate whether the points is in any of the boxes
Args: Args:
angles (float | torch.Tensor): rotation angle angle (float | torch.Tensor): rotation angle
Returns:
None if `return_rot_mat=False`,
torch.Tensor if `return_rot_mat=True`
""" """
if not isinstance(angle, torch.Tensor): if not isinstance(angle, torch.Tensor):
angle = self.tensor.new_tensor(angle) angle = self.tensor.new_tensor(angle)
...@@ -133,13 +133,23 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -133,13 +133,23 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T
self.tensor[:, 6] += angle self.tensor[:, 6] += angle
def flip(self): def flip(self, bev_direction='horizontal'):
"""Flip the boxes in horizontal direction """Flip the boxes in BEV along given BEV direction
In LIDAR coordinates, it flips the y axis. In LIDAR coordinates, it flips the y (horizontal) or x (vertical) axis.
Args:
bev_direction (str): Flip direction (horizontal or vertical).
""" """
self.tensor[:, 1::7] = -self.tensor[:, 1::7] assert bev_direction in ('horizontal', 'vertical')
self.tensor[:, 6] = -self.tensor[:, 6] + np.pi if bev_direction == 'horizontal':
self.tensor[:, 1::7] = -self.tensor[:, 1::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6] + np.pi
elif bev_direction == 'vertical':
self.tensor[:, 0::7] = -self.tensor[:, 0::7]
if self.with_yaw:
self.tensor[:, 6] = -self.tensor[:, 6]
def in_range_bev(self, box_range): def in_range_bev(self, box_range):
"""Check whether the boxes are in the given range """Check whether the boxes are in the given range
...@@ -155,8 +165,8 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes): ...@@ -155,8 +165,8 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
TODO: check whether this will effect the performance TODO: check whether this will effect the performance
Returns: Returns:
a binary vector, indicating whether each box is inside torch.Tensor: Indicating whether each box is inside
the reference range. the reference range.
""" """
in_range_flags = ((self.tensor[:, 0] > box_range[0]) in_range_flags = ((self.tensor[:, 0] > box_range[0])
& (self.tensor[:, 1] > box_range[1]) & (self.tensor[:, 1] > box_range[1])
......
tests/test_box3d.py
View file @ b77a77d4
...@@ -3,7 +3,7 @@ import pytest ...@@ -3,7 +3,7 @@ import pytest
import torch import torch
from mmdet3d.core.bbox import (Box3DMode, CameraInstance3DBoxes, from mmdet3d.core.bbox import (Box3DMode, CameraInstance3DBoxes,
LiDARInstance3DBoxes) DepthInstance3DBoxes, LiDARInstance3DBoxes)
def test_lidar_boxes3d(): def test_lidar_boxes3d():
...@@ -70,9 +70,19 @@ def test_lidar_boxes3d(): ...@@ -70,9 +70,19 @@ def test_lidar_boxes3d():
[28.2967, 0.5557558, -1.303325, 1.47, 2.23, 1.48, 4.7115927], [28.2967, 0.5557558, -1.303325, 1.47, 2.23, 1.48, 4.7115927],
[26.66902, -21.82302, -1.736057, 1.56, 3.48, 1.4, 4.8315926], [26.66902, -21.82302, -1.736057, 1.56, 3.48, 1.4, 4.8315926],
[31.31978, -8.162144, -1.6217787, 1.74, 3.77, 1.48, 0.35159278]]) [31.31978, -8.162144, -1.6217787, 1.74, 3.77, 1.48, 0.35159278]])
boxes.flip() boxes.flip('horizontal')
assert torch.allclose(boxes.tensor, expected_tensor) assert torch.allclose(boxes.tensor, expected_tensor)
expected_tensor = torch.tensor(
[[-1.7802, -2.5162, -1.7501, 1.7500, 3.3900, 1.6500, -1.6616],
[-8.9594, -2.4567, -1.6357, 1.5400, 4.0100, 1.5700, -1.5216],
[-28.2967, 0.5558, -1.3033, 1.4700, 2.2300, 1.4800, -4.7116],
[-26.6690, -21.8230, -1.7361, 1.5600, 3.4800, 1.4000, -4.8316],
[-31.3198, -8.1621, -1.6218, 1.7400, 3.7700, 1.4800, -0.3516]])
boxes_flip_vert = boxes.clone()
boxes_flip_vert.flip('vertical')
assert torch.allclose(boxes_flip_vert.tensor, expected_tensor, 1e-4)
# test box rotation # test box rotation
expected_tensor = torch.tensor( expected_tensor = torch.tensor(
[[1.0385344, -2.9020846, -1.7501148, 1.75, 3.39, 1.65, 1.9336663], [[1.0385344, -2.9020846, -1.7501148, 1.75, 3.39, 1.65, 1.9336663],
...@@ -223,7 +233,7 @@ def test_lidar_boxes3d(): ...@@ -223,7 +233,7 @@ def test_lidar_boxes3d():
[27.3398, -18.3976, 29.0896, -14.6065]]) [27.3398, -18.3976, 29.0896, -14.6065]])
# the pytorch print loses some precision # the pytorch print loses some precision
assert torch.allclose( assert torch.allclose(
boxes.nearset_bev, expected_tensor, rtol=1e-4, atol=1e-7) boxes.nearest_bev, expected_tensor, rtol=1e-4, atol=1e-7)
# obtained by the print of the original implementation # obtained by the print of the original implementation
expected_tensor = torch.tensor([[[2.4093e+00, -4.4784e+00, -1.9169e+00], expected_tensor = torch.tensor([[[2.4093e+00, -4.4784e+00, -1.9169e+00],
...@@ -269,6 +279,25 @@ def test_lidar_boxes3d(): ...@@ -269,6 +279,25 @@ def test_lidar_boxes3d():
# the pytorch print loses some precision # the pytorch print loses some precision
assert torch.allclose(boxes.corners, expected_tensor, rtol=1e-4, atol=1e-7) assert torch.allclose(boxes.corners, expected_tensor, rtol=1e-4, atol=1e-7)
# test new_box
new_box1 = boxes.new_box([[1, 2, 3, 4, 5, 6, 7]])
assert torch.allclose(
new_box1.tensor,
torch.tensor([[1, 2, 3, 4, 5, 6, 7]], dtype=boxes.tensor.dtype))
assert new_box1.device == boxes.device
assert new_box1.with_yaw == boxes.with_yaw
assert new_box1.box_dim == boxes.box_dim
new_box2 = boxes.new_box(np.array([[1, 2, 3, 4, 5, 6, 7]]))
assert torch.allclose(
new_box2.tensor,
torch.tensor([[1, 2, 3, 4, 5, 6, 7]], dtype=boxes.tensor.dtype))
new_box3 = boxes.new_box(torch.tensor([[1, 2, 3, 4, 5, 6, 7]]))
assert torch.allclose(
new_box3.tensor,
torch.tensor([[1, 2, 3, 4, 5, 6, 7]], dtype=boxes.tensor.dtype))
def test_boxes_conversion(): def test_boxes_conversion():
"""Test the conversion of boxes between different modes. """Test the conversion of boxes between different modes.
...@@ -310,12 +339,6 @@ def test_boxes_conversion(): ...@@ -310,12 +339,6 @@ def test_boxes_conversion():
Box3DMode.DEPTH, Box3DMode.CAM) Box3DMode.DEPTH, Box3DMode.CAM)
assert torch.allclose(cam_box_tensor, depth_to_cam_box_tensor) assert torch.allclose(cam_box_tensor, depth_to_cam_box_tensor)
# test error raise with not supported conversion
with pytest.raises(NotImplementedError):
Box3DMode.convert(lidar_box_tensor, Box3DMode.LIDAR, Box3DMode.DEPTH)
with pytest.raises(NotImplementedError):
Box3DMode.convert(depth_box_tensor, Box3DMode.DEPTH, Box3DMode.LIDAR)
# test similar mode conversion # test similar mode conversion
same_results = Box3DMode.convert(depth_box_tensor, Box3DMode.DEPTH, same_results = Box3DMode.convert(depth_box_tensor, Box3DMode.DEPTH,
Box3DMode.DEPTH) Box3DMode.DEPTH)
...@@ -389,6 +412,31 @@ def test_boxes_conversion(): ...@@ -389,6 +412,31 @@ def test_boxes_conversion():
rt_mat.inverse().numpy()) rt_mat.inverse().numpy())
assert np.allclose(np.array(cam_to_lidar_box), expected_tensor[0].numpy()) assert np.allclose(np.array(cam_to_lidar_box), expected_tensor[0].numpy())
# test convert from depth to lidar
depth_boxes = torch.tensor(
[[2.4593, 2.5870, -0.4321, 0.8597, 0.6193, 1.0204, 3.0693],
[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601]],
dtype=torch.float32)
depth_boxes = DepthInstance3DBoxes(depth_boxes)
depth_to_lidar_box = Box3DMode.convert(depth_boxes, Box3DMode.DEPTH,
Box3DMode.LIDAR)
lidar_to_depth_box = Box3DMode.convert(depth_to_lidar_box, Box3DMode.LIDAR,
Box3DMode.DEPTH)
assert torch.allclose(depth_boxes.tensor, lidar_to_depth_box.tensor)
assert torch.allclose(depth_boxes.volume, lidar_to_depth_box.volume)
# test convert from depth to camera
depth_to_cam_box = Box3DMode.convert(depth_boxes, Box3DMode.DEPTH,
Box3DMode.CAM)
cam_to_depth_box = Box3DMode.convert(depth_to_cam_box, Box3DMode.CAM,
Box3DMode.DEPTH)
assert torch.allclose(depth_boxes.tensor, cam_to_depth_box.tensor)
assert torch.allclose(depth_boxes.volume, cam_to_depth_box.volume)
with pytest.raises(NotImplementedError):
# assert invalid convert mode
Box3DMode.convert(depth_boxes, Box3DMode.DEPTH, 3)
def test_camera_boxes3d(): def test_camera_boxes3d():
# Test init with numpy array # Test init with numpy array
...@@ -449,9 +497,19 @@ def test_camera_boxes3d(): ...@@ -449,9 +497,19 @@ def test_camera_boxes3d():
[26.66902, -21.82302, -1.736057, 1.56, 3.48, 1.4, 4.8315926], [26.66902, -21.82302, -1.736057, 1.56, 3.48, 1.4, 4.8315926],
[31.31978, -8.162144, -1.6217787, 1.74, 3.77, 1.48, 0.35159278]]), [31.31978, -8.162144, -1.6217787, 1.74, 3.77, 1.48, 0.35159278]]),
Box3DMode.LIDAR, Box3DMode.CAM) Box3DMode.LIDAR, Box3DMode.CAM)
boxes.flip() boxes.flip('horizontal')
assert torch.allclose(boxes.tensor, expected_tensor) assert torch.allclose(boxes.tensor, expected_tensor)
expected_tensor = torch.tensor(
[[2.5162, 1.7501, -1.7802, 3.3900, 1.6500, 1.7500, -1.6616],
[2.4567, 1.6357, -8.9594, 4.0100, 1.5700, 1.5400, -1.5216],
[-0.5558, 1.3033, -28.2967, 2.2300, 1.4800, 1.4700, -4.7116],
[21.8230, 1.7361, -26.6690, 3.4800, 1.4000, 1.5600, -4.8316],
[8.1621, 1.6218, -31.3198, 3.7700, 1.4800, 1.7400, -0.3516]])
boxes_flip_vert = boxes.clone()
boxes_flip_vert.flip('vertical')
assert torch.allclose(boxes_flip_vert.tensor, expected_tensor, 1e-4)
# test box rotation # test box rotation
expected_tensor = Box3DMode.convert( expected_tensor = Box3DMode.convert(
torch.tensor( torch.tensor(
...@@ -560,7 +618,7 @@ def test_camera_boxes3d(): ...@@ -560,7 +618,7 @@ def test_camera_boxes3d():
expected_tensor[:, 1::2] = lidar_expected_tensor[:, 0::2] expected_tensor[:, 1::2] = lidar_expected_tensor[:, 0::2]
# the pytorch print loses some precision # the pytorch print loses some precision
assert torch.allclose( assert torch.allclose(
boxes.nearset_bev, expected_tensor, rtol=1e-4, atol=1e-7) boxes.nearest_bev, expected_tensor, rtol=1e-4, atol=1e-7)
# obtained by the print of the original implementation # obtained by the print of the original implementation
expected_tensor = torch.tensor([[[3.2684e+00, 2.5769e-01, -7.7767e-01], expected_tensor = torch.tensor([[[3.2684e+00, 2.5769e-01, -7.7767e-01],
...@@ -659,3 +717,130 @@ def test_boxes3d_overlaps(): ...@@ -659,3 +717,130 @@ def test_boxes3d_overlaps():
cam_boxes1.overlaps(cam_boxes1, boxes1) cam_boxes1.overlaps(cam_boxes1, boxes1)
with pytest.raises(AssertionError): with pytest.raises(AssertionError):
boxes1.overlaps(cam_boxes1, boxes1) boxes1.overlaps(cam_boxes1, boxes1)
def test_depth_boxes3d():
# test empty initialization
empty_boxes = []
boxes = DepthInstance3DBoxes(empty_boxes)
assert boxes.tensor.shape[0] == 0
assert boxes.tensor.shape[1] == 7
# Test init with numpy array
np_boxes = np.array(
[[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601],
[2.3262, 3.3065, --0.44255, 0.8234, 0.5325, 1.0099, 2.9971]],
dtype=np.float32)
boxes_1 = DepthInstance3DBoxes(np_boxes)
assert torch.allclose(boxes_1.tensor, torch.from_numpy(np_boxes))
# test properties
assert boxes_1.volume.size(0) == 2
assert (boxes_1.center == boxes_1.bottom_center).all()
expected_tensor = torch.tensor([[1.4856, 2.5299, -0.1093],
[2.3262, 3.3065, 0.9475]])
assert torch.allclose(boxes_1.gravity_center, expected_tensor)
expected_tensor = torch.tensor([[1.4856, 2.5299, 0.9385, 2.1404, 3.0601],
[2.3262, 3.3065, 0.8234, 0.5325, 2.9971]])
assert torch.allclose(boxes_1.bev, expected_tensor)
expected_tensor = torch.tensor([[1.0164, 1.4597, 1.9548, 3.6001],
[1.9145, 3.0402, 2.7379, 3.5728]])
assert torch.allclose(boxes_1.nearest_bev, expected_tensor, 1e-4)
assert repr(boxes) == (
'DepthInstance3DBoxes(\n tensor([], size=(0, 7)))')
# test init with torch.Tensor
th_boxes = torch.tensor(
[[2.4593, 2.5870, -0.4321, 0.8597, 0.6193, 1.0204, 3.0693],
[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601]],
dtype=torch.float32)
boxes_2 = DepthInstance3DBoxes(th_boxes)
assert torch.allclose(boxes_2.tensor, th_boxes)
# test clone/to/device
boxes_2 = boxes_2.clone()
boxes_1 = boxes_1.to(boxes_2.device)
# test box concatenation
expected_tensor = torch.tensor(
[[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601],
[2.3262, 3.3065, --0.44255, 0.8234, 0.5325, 1.0099, 2.9971],
[2.4593, 2.5870, -0.4321, 0.8597, 0.6193, 1.0204, 3.0693],
[1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 3.0601]])
boxes = DepthInstance3DBoxes.cat([boxes_1, boxes_2])
assert torch.allclose(boxes.tensor, expected_tensor)
# concatenate empty list
empty_boxes = DepthInstance3DBoxes.cat([])
assert empty_boxes.tensor.shape[0] == 0
assert empty_boxes.tensor.shape[-1] == 7
# test box flip
expected_tensor = torch.tensor(
[[-1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 0.0815],
[-2.3262, 3.3065, 0.4426, 0.8234, 0.5325, 1.0099, 0.1445],
[-2.4593, 2.5870, -0.4321, 0.8597, 0.6193, 1.0204, 0.0723],
[-1.4856, 2.5299, -0.5570, 0.9385, 2.1404, 0.8954, 0.0815]])
boxes.flip(bev_direction='horizontal')
assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
expected_tensor = torch.tensor(
[[-1.4856, -2.5299, -0.5570, 0.9385, 2.1404, 0.8954, -0.0815],
[-2.3262, -3.3065, 0.4426, 0.8234, 0.5325, 1.0099, -0.1445],
[-2.4593, -2.5870, -0.4321, 0.8597, 0.6193, 1.0204, -0.0723],
[-1.4856, -2.5299, -0.5570, 0.9385, 2.1404, 0.8954, -0.0815]])
boxes.flip(bev_direction='vertical')
assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
# test box rotation
boxes_rot = boxes.clone()
expected_tensor = torch.tensor(
[[-1.6004, -2.4589, -0.5570, 0.9385, 2.1404, 0.8954, -0.0355],
[-2.4758, -3.1960, 0.4426, 0.8234, 0.5325, 1.0099, -0.0985],
[-2.5757, -2.4712, -0.4321, 0.8597, 0.6193, 1.0204, -0.0263],
[-1.6004, -2.4589, -0.5570, 0.9385, 2.1404, 0.8954, -0.0355]])
boxes_rot.rotate(-0.04599790655000615)
assert torch.allclose(boxes_rot.tensor, expected_tensor, 1e-3)
th_boxes = torch.tensor(
[[0.61211395, 0.8129094, 0.10563634, 1.497534, 0.16927195, 0.27956772],
[1.430009, 0.49797538, 0.9382923, 0.07694054, 0.9312509, 1.8919173]],
dtype=torch.float32)
boxes = DepthInstance3DBoxes(th_boxes, box_dim=6, with_yaw=False)
expected_tensor = torch.tensor([[
0.64884546, 0.78390356, 0.10563634, 1.50373348, 0.23795205, 0.27956772,
0
],
[
1.45139421, 0.43169443, 0.93829232,
0.11967964, 0.93380373, 1.89191735, 0
]])
boxes_3 = boxes.clone()
boxes_3.rotate(-0.04599790655000615)
assert torch.allclose(boxes_3.tensor, expected_tensor)
boxes.rotate(torch.tensor(-0.04599790655000615))
assert torch.allclose(boxes.tensor, expected_tensor)
# test bbox in_range_bev
expected_tensor = torch.tensor([1, 1], dtype=torch.bool)
mask = boxes.in_range_bev([0., -40., 70.4, 40.])
assert (mask == expected_tensor).all()
mask = boxes.nonempty()
assert (mask == expected_tensor).all()
expected_tensor = torch.tensor([[[-0.1030, 0.6649, 0.1056],
[-0.1030, 0.6649, 0.3852],
[-0.1030, 0.9029, 0.3852],
[-0.1030, 0.9029, 0.1056],
[1.4007, 0.6649, 0.1056],
[1.4007, 0.6649, 0.3852],
[1.4007, 0.9029, 0.3852],
[1.4007, 0.9029, 0.1056]],
[[1.3916, -0.0352, 0.9383],
[1.3916, -0.0352, 2.8302],
[1.3916, 0.8986, 2.8302],
[1.3916, 0.8986, 0.9383],
[1.5112, -0.0352, 0.9383],
[1.5112, -0.0352, 2.8302],
[1.5112, 0.8986, 2.8302],
[1.5112, 0.8986, 0.9383]]])
torch.allclose(boxes.corners, expected_tensor)
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