[Benchmark] Add PV RCNN benchmark (#2045)

* fix a bug

* fix a batch inference bug

* fix docs

* add pvrcnn benchmark

* fix

* add link

* add

* fix lint

README.md

@@ -159,6 +159,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
             <li><a href="configs/point_rcnn">PointRCNN (CVPR'2019)</a></li>
             <li><a href="configs/parta2">Part-A2 (TPAMI'2020)</a></li>
             <li><a href="configs/centerpoint">CenterPoint (CVPR'2021)</a></li>
+            <li><a href="configs/pv_rcnn">PV-RCNN (CVPR'2020)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -227,6 +228,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
 | MonoFlex      |   ✗    |    ✗    |   ✗   |     ✗      |   ✗   |   ✗   |    ✗    |    ✗    |  ✓  |     ✗      |
 | SA-SSD        |   ☐    |    ☐    |   ☐   |     ✗      |   ✗   |   ☐   |    ☐    |    ☐    |  ✗  |     ✗      |
 | FCAF3D        |   ✗    |    ✗    |   ✗   |     ✗      |   ✗   |   ✗   |    ✗    |    ✗    |  ✗  |     ✓      |
+| PV-RCNN       |   ☐    |    ☐    |   ☐   |     ✗      |   ✗   |   ☐   |    ☐    |    ☐    |  ✗  |     ✗      |
 
 **Note:** All the about **300+ models, methods of 40+ papers** in 2D detection supported by [MMDetection](https://github.com/open-mmlab/mmdetection/blob/3.x/docs/en/model_zoo.md) can be trained or used in this codebase.
 

configs/pv_rcnn/README.md

+# PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection
+
+> [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://arxiv.org/abs/1912.13192)
+
+<!-- [ALGORITHM] -->
+
+## Introduction
+
+3D object detection has been receiving increasing attention from both industry and academia thanks to its wide applications in various fields such as autonomous driving and robotics. LiDAR sensors are widely adopted in autonomous driving vehicles and robots for capturing 3D scene information as sparse and irregular point clouds, which provide vital cues for 3D scene perception and understanding. In this paper, we propose to achieve high performance 3D object detection by designing novel point-voxel integrated networks to learn better 3D features from irregular point clouds.
+
+<div align=center>
+<img src="https://user-images.githubusercontent.com/88368822/202114244-ccf52f56-b8c9-4f1b-9cc2-80c7a9952c99.png" width="800"/>
+</div>
+
+## Results and models
+
+### KITTI
+
+|                    Backbone                     |  Class  |  Lr schd   | Mem (GB) | Inf time (fps) |  mAP  |                                                                                                                                                                    Download                                                                                                                                                                    |
+| :---------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| [SECFPN](./pv_rcnn_8xb2-80e_kitti-3d-3class.py) | 3 Class | cyclic 80e |   5.4    |                | 72.28 | [model](https://download.openmmlab.com/mmdetection3d/v1.1.0_models/pv_rcnn/pv_rcnn_8xb2-80e_kitti-3d-3class/pv_rcnn_8xb2-80e_kitti-3d-3class_20221117_234428-b384d22f.pth) \\ [log](https://download.openmmlab.com/mmdetection3d/v1.1.0_models/pv_rcnn/pv_rcnn_8xb2-80e_kitti-3d-3class/pv_rcnn_8xb2-80e_kitti-3d-3class_20221117_234428.json) |
+
+Note: mAP represents AP11 results on 3 Class under the moderate setting.
+
+Detailed performance on KITTI 3D detection (3D) is as follows, evaluated by AP11 metric:
+
+|            | Easy  | Moderate | Hard  |
+| ---------- | :---: | :------: | :---: |
+| Car        | 89.20 |  83.72   | 78.79 |
+| Pedestrian | 66.64 |  59.84   | 55.33 |
+| Cyclist    | 87.25 |  73.27   | 69.61 |
+
+## Citation
+
+```latex
+@article{ShaoshuaiShi2020PVRCNNPF,
+  title={PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection},
+  author={Shaoshuai Shi and Chaoxu Guo and Li Jiang and Zhe Wang and Jianping Shi and Xiaogang Wang and Hongsheng Li},
+  journal={computer vision and pattern recognition},
+  year={2020}
+}
+```

configs/pv_rcnn/metafile.yml

+Collections:
+  - Name: PV-RCNN
+    Metadata:
+      Training Data: KITTI
+      Training Techniques:
+        - AdamW
+      Training Resources: 8x A100 GPUs
+      Architecture:
+        - Feature Pyramid Network
+    Paper:
+      URL: https://arxiv.org/abs/1912.13192
+      Title: 'PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection'
+    README: configs/pv_rcnn/README.md
+    Code:
+      URL: https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/mmdet3d/models/detectors/pv_rcnn.py#L12
+      Version: v1.1.0rc2
+
+Models:
+  - Name: pv_rcnn_8xb2-80e_kitti-3d-3class
+    In Collection: PV-RCNN
+    Config: configs/pv_rcnn/pv_rcnn_8xb2-80e_kitti-3d-3class.py
+    Metadata:
+      Training Memory (GB): 5.4
+    Results:
+      - Task: 3D Object Detection
+        Dataset: KITTI
+        Metrics:
+          mAP: 72.28
+    Weights: <https://download.openmmlab.com/mmdetection3d/v1.1.0_models/pv_rcnn/pv_rcnn_8xb2-80e_kitti-3d-3class/pv_rcnn_8xb2-80e_kitti-3d-3class_20221117_234428-b384d22f.pth

docs/en/model_zoo.md

@@ -108,6 +108,10 @@ Please refer to [SA-SSD](https://github.com/open-mmlab/mmdetection3d/blob/master
 
 Please refer to [FCAF3D](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/fcaf3d) for details. We provide FCAF3D baselines on the ScanNet, S3DIS, and SUN RGB-D datasets.
 
+### PV-RCNN
+
+Please refer to [PV-RCNN](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/configs/pv_rcnn) for details. We provide PV-RCNN baselines on the KITTI dataset.
+
 ### Mixed Precision (FP16) Training
 
 Please refer to [Mixed Precision (FP16) Training on PointPillars](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/pointpillars/hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py) for details.

tests/test_models/test_detectors/test_pvrcnn.py

@@ -17,7 +17,7 @@ class TestPVRCNN(unittest.TestCase):
         DefaultScope.get_instance('test_pvrcnn', scope_name='mmdet3d')
         setup_seed(0)
         pvrcnn_cfg = get_detector_cfg(
-            'pvrcnn/pvrcnn_8xb2-80e_kitti-3d-3class.py')
+            'pv_rcnn/pv_rcnn_8xb2-80e_kitti-3d-3class.py')
         model = MODELS.build(pvrcnn_cfg)
         num_gt_instance = 2
         packed_inputs = create_detector_inputs(num_gt_instance=num_gt_instance)