Merge branch 'dense_heads' into 'master'

Refactor dense heads

See merge request open-mmlab/mmdet.3d!32

configs/kitti/dv_mvx-v2_second_secfpn_fpn-fusion_adamw_2x8_80e_kitti-3d-3class.py

@@ -65,12 +65,11 @@ model = dict(
         out_channels=[256, 256],
     ),
     pts_bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Pedestrian', 'Cyclist', 'Car'],
+        type='Anchor3DHead',
+        num_classes=3,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[
@@ -85,7 +84,7 @@ model = dict(
         assigner_per_size=True,
         diff_rad_by_sin=True,
         assign_per_class=True,
-        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', ),
+        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
         loss_cls=dict(
             type='FocalLoss',
             use_sigmoid=True,
@@ -132,8 +131,8 @@ test_cfg = dict(
         nms_thr=0.01,
         score_thr=0.3,
         min_bbox_size=0,
-        post_center_limit_range=[0, -40, -3, 70.4, 40, 0.0],
-    ), )
+        nms_pre=100,
+        max_num=50))
 
 # dataset settings
 dataset_type = 'KittiDataset'

configs/kitti/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py

@@ -37,12 +37,11 @@ model = dict(
         out_channels=[128, 128, 128],
     ),
     bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Car'],
+        type='Anchor3DHead',
+        num_classes=1,
         in_channels=384,
         feat_channels=384,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
@@ -51,7 +50,7 @@ model = dict(
             rotations=[0, 1.57],
             reshape_out=True),
         diff_rad_by_sin=True,
-        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', ),
+        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
         loss_cls=dict(
             type='FocalLoss',
             use_sigmoid=True,
@@ -81,10 +80,8 @@ test_cfg = dict(
     nms_thr=0.01,
     score_thr=0.3,
     min_bbox_size=0,
-    post_center_limit_range=point_cloud_range,
-    # soft-nms is also supported for rcnn testing
-    # e.g., nms=dict(type='soft_nms', iou_thr=0.5, min_score=0.05)
-)
+    nms_pre=100,
+    max_num=50)
 
 # dataset settings
 dataset_type = 'KittiDataset'

configs/kitti/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py

@@ -34,12 +34,11 @@ model = dict(
         out_channels=[256, 256],
     ),
     bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Pedestrian', 'Cyclist', 'Car'],
+        type='Anchor3DHead',
+        num_classes=3,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[
@@ -54,7 +53,7 @@ model = dict(
         diff_rad_by_sin=True,
         assigner_per_size=True,
         assign_per_class=True,
-        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', ),
+        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
         loss_cls=dict(
             type='FocalLoss',
             use_sigmoid=True,
@@ -100,10 +99,8 @@ test_cfg = dict(
     nms_thr=0.01,
     score_thr=0.3,
     min_bbox_size=0,
-    post_center_limit_range=[0, -40, -3, 70.4, 40, 0.0],
-    # soft-nms is also supported for rcnn testing
-    # e.g., nms=dict(type='soft_nms', iou_thr=0.5, min_score=0.05)
-)
+    nms_pre=100,
+    max_num=50)
 
 # dataset settings
 dataset_type = 'KittiDataset'

configs/kitti/dv_second_secfpn_6x8_80e_kitti-3d-car.py

@@ -34,12 +34,11 @@ model = dict(
         out_channels=[256, 256],
     ),
     bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Car'],
+        type='Anchor3DHead',
+        num_classes=1,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
@@ -78,10 +77,8 @@ test_cfg = dict(
     nms_thr=0.01,
     score_thr=0.3,
     min_bbox_size=0,
-    post_center_limit_range=[0, -40, -3, 70.4, 40, 0.0],
-    # soft-nms is also supported for rcnn testing
-    # e.g., nms=dict(type='soft_nms', iou_thr=0.5, min_score=0.05)
-)
+    nms_pre=100,
+    max_num=50)
 
 # dataset settings
 dataset_type = 'KittiDataset'

configs/kitti/hv_PartA2_secfpn_4x8_cyclic_80e_kitti-3d-3class.py

@@ -33,11 +33,10 @@ model = dict(
         out_channels=[256, 256]),
     rpn_head=dict(
         type='PartA2RPNHead',
-        class_name=['Pedestrian', 'Cyclist', 'Car'],
+        num_classes=3,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],

configs/kitti/hv_PartA2_secfpn_4x8_cyclic_80e_kitti-3d-car.py

@@ -33,11 +33,10 @@ model = dict(
         out_channels=[256, 256]),
     rpn_head=dict(
         type='PartA2RPNHead',
-        class_name=['Car'],
+        num_classes=1,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
@@ -132,6 +131,7 @@ train_cfg = dict(
     rpn_proposal=dict(
         nms_pre=9000,
         nms_post=512,
+        max_num=512,
         nms_thr=0.8,
         score_thr=0,
         use_rotate_nms=False),
@@ -158,6 +158,7 @@ test_cfg = dict(
     rpn=dict(
         nms_pre=1024,
         nms_post=100,
+        max_num=100,
         nms_thr=0.7,
         score_thr=0,
         use_rotate_nms=True),

configs/kitti/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py

@@ -36,12 +36,11 @@ model = dict(
         out_channels=[128, 128, 128],
     ),
     bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Car'],
+        type='Anchor3DHead',
+        num_classes=1,
         in_channels=384,
         feat_channels=384,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
@@ -80,8 +79,8 @@ test_cfg = dict(
     nms_thr=0.01,
     score_thr=0.3,
     min_bbox_size=0,
-    post_center_limit_range=point_cloud_range,
-)
+    nms_pre=100,
+    max_num=50)
 
 # dataset settings
 dataset_type = 'KittiDataset'

configs/kitti/hv_second_secfpn_6x8_80e_kitti-3d-car.py

@@ -34,12 +34,11 @@ model = dict(
         out_channels=[256, 256],
     ),
     bbox_head=dict(
-        type='SECONDHead',
-        class_name=['Car'],
+        type='Anchor3DHead',
+        num_classes=1,
         in_channels=512,
         feat_channels=512,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
@@ -78,8 +77,8 @@ test_cfg = dict(
     nms_thr=0.01,
     score_thr=0.3,
     min_bbox_size=0,
-    post_center_limit_range=[0, -40, -3, 70.4, 40, 0.0],
-)
+    nms_pre=100,
+    max_num=50)
 
 # dataset settings
 dataset_type = 'KittiDataset'
@@ -135,7 +134,7 @@ test_pipeline = [
 ]
 
 data = dict(
-    samples_per_gpu=4,
+    samples_per_gpu=6,
     workers_per_gpu=4,
     train=dict(
         type=dataset_type,
@@ -166,7 +165,7 @@ data = dict(
         class_names=class_names,
         with_label=True))
 # optimizer
-lr = 0.001  # max learning rate
+lr = 0.0018  # max learning rate
 optimizer = dict(type='AdamW', lr=lr, betas=(0.95, 0.99), weight_decay=0.01)
 optimizer_config = dict(grad_clip=dict(max_norm=10, norm_type=2))
 lr_config = dict(

configs/nus/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py

@@ -44,13 +44,11 @@ model = dict(
         out_channels=[128, 128, 128],
     ),
     pts_bbox_head=dict(
-        type='Anchor3DVeloHead',
-        class_names=class_names,
+        type='Anchor3DHead',
         num_classes=10,
         in_channels=384,
         feat_channels=384,
         use_direction_classifier=True,
-        encode_bg_as_zeros=True,
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[
@@ -79,7 +77,7 @@ model = dict(
         diff_rad_by_sin=True,
         dir_offset=0.7854,  # pi/4
         dir_limit_offset=0,
-        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', ),
+        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
         loss_cls=dict(
             type='FocalLoss',
             use_sigmoid=True,
@@ -113,10 +111,7 @@ test_cfg = dict(
         nms_thr=0.2,
         score_thr=0.05,
         min_bbox_size=0,
-        max_per_img=500,
-        post_center_limit_range=point_cloud_range,
-        # TODO: check whether need to change this
-        # post_center_limit_range=[-59.6, -59.6, -6, 59.6, 59.6, 4],
+        max_num=500
         # soft-nms is also supported for rcnn testing
         # e.g., nms=dict(type='soft_nms', iou_thr=0.5, min_score=0.05)
     ))
@@ -209,7 +204,7 @@ lr_config = dict(
 momentum_config = None
 checkpoint_config = dict(interval=1)
 # yapf:disable
-evaluation = dict(interval=20)
+evaluation = dict(interval=24)
 log_config = dict(
     interval=50,
     hooks=[

mmdet3d/core/bbox/__init__.py

@@ -8,7 +8,7 @@ from .samplers import (BaseSampler, CombinedSampler,
                        InstanceBalancedPosSampler, IoUBalancedNegSampler,
                        PseudoSampler, RandomSampler, SamplingResult)
 from .structures import Box3DMode, CameraInstance3DBoxes, LiDARInstance3DBoxes
-from .transforms import bbox3d2roi, boxes3d_to_bev_torch_lidar
+from .transforms import bbox3d2result, bbox3d2roi, boxes3d_to_bev_torch_lidar
 
 from .assign_sampling import (  # isort:skip, avoid recursive imports
     build_bbox_coder,  # temporally settings
@@ -22,5 +22,5 @@ __all__ = [
     'build_bbox_coder', 'DeltaXYZWLHRBBoxCoder', 'boxes3d_to_bev_torch_lidar',
     'BboxOverlapsNearest3D', 'BboxOverlaps3D', 'bbox_overlaps_nearest_3d',
     'bbox_overlaps_3d', 'Box3DMode', 'LiDARInstance3DBoxes',
-    'CameraInstance3DBoxes', 'bbox3d2roi'
+    'CameraInstance3DBoxes', 'bbox3d2roi', 'bbox3d2result'
 ]

mmdet3d/core/bbox/coders/__init__.py

 from mmdet.core.bbox import build_bbox_coder
-from .delta_xywh_bbox_coder import DeltaXYZWLHRBBoxCoder
+from .delta_xyzwhlr_bbox_coder import DeltaXYZWLHRBBoxCoder
 
 __all__ = ['build_bbox_coder', 'DeltaXYZWLHRBBoxCoder']

mmdet3d/core/bbox/transforms.py

@@ -69,3 +69,18 @@ def bbox3d2roi(bbox_list):
         rois_list.append(rois)
     rois = torch.cat(rois_list, 0)
     return rois
+
+
+def bbox3d2result(bboxes, scores, labels):
+    """Convert detection results to a list of numpy arrays.
+
+    Args:
+        bboxes (Tensor): shape (n, 5)
+        labels (Tensor): shape (n, )
+        scores (Tensor): shape (n, )
+
+    Returns:
+        dict(Tensor): bbox results in cpu mode
+    """
+    return dict(
+        boxes_3d=bboxes.cpu(), scores_3d=scores.cpu(), labels_3d=labels.cpu())

mmdet3d/core/post_processing/__init__.py

 from mmdet.core.post_processing import (merge_aug_bboxes, merge_aug_masks,
                                         merge_aug_proposals, merge_aug_scores,
                                         multiclass_nms)
+from .box3d_nms import box3d_multiclass_nms
 
 __all__ = [
     'multiclass_nms', 'merge_aug_proposals', 'merge_aug_bboxes',
-    'merge_aug_scores', 'merge_aug_masks'
+    'merge_aug_scores', 'merge_aug_masks', 'box3d_multiclass_nms'
 ]

mmdet3d/core/post_processing/box3d_nms.py

+import torch
+
+from mmdet3d.ops.iou3d.iou3d_utils import nms_gpu, nms_normal_gpu
+
+
+def box3d_multiclass_nms(mlvl_bboxes,
+                         mlvl_bboxes_for_nms,
+                         mlvl_scores,
+                         score_thr,
+                         max_num,
+                         cfg,
+                         mlvl_dir_scores=None):
+    # do multi class nms
+    # the fg class id range: [0, num_classes-1]
+    num_classes = mlvl_scores.shape[1] - 1
+    bboxes = []
+    scores = []
+    labels = []
+    dir_scores = []
+    for i in range(0, num_classes):
+        # get bboxes and scores of this class
+        cls_inds = mlvl_scores[:, i] > score_thr
+        if not cls_inds.any():
+            continue
+
+        _scores = mlvl_scores[cls_inds, i]
+        _bboxes_for_nms = mlvl_bboxes_for_nms[cls_inds, :]
+
+        if cfg.use_rotate_nms:
+            nms_func = nms_gpu
+        else:
+            nms_func = nms_normal_gpu
+
+        selected = nms_func(_bboxes_for_nms, _scores, cfg.nms_thr)
+        _mlvl_bboxes = mlvl_bboxes[cls_inds, :]
+        bboxes.append(_mlvl_bboxes[selected])
+        scores.append(_scores[selected])
+        cls_label = mlvl_bboxes.new_full((len(selected), ),
+                                         i,
+                                         dtype=torch.long)
+        labels.append(cls_label)
+
+        if mlvl_dir_scores is not None:
+            _mlvl_dir_scores = mlvl_dir_scores[cls_inds]
+            dir_scores.append(_mlvl_dir_scores[selected])
+
+    if bboxes:
+        bboxes = torch.cat(bboxes, dim=0)
+        scores = torch.cat(scores, dim=0)
+        labels = torch.cat(labels, dim=0)
+        if mlvl_dir_scores is not None:
+            dir_scores = torch.cat(dir_scores, dim=0)
+        if bboxes.shape[0] > max_num:
+            _, inds = scores.sort(descending=True)
+            inds = inds[:max_num]
+            bboxes = bboxes[inds, :]
+            labels = labels[inds]
+            scores = scores[inds]
+            if mlvl_dir_scores is not None:
+                dir_scores = dir_scores[inds]
+    else:
+        bboxes = mlvl_scores.new_zeros((0, mlvl_bboxes.size(-1)))
+        scores = mlvl_scores.new_zeros((0, ))
+        labels = mlvl_scores.new_zeros((0, mlvl_scores.size(-1)))
+        dir_scores = mlvl_scores.new_zeros((0, ))
+    return bboxes, scores, labels, dir_scores

mmdet3d/datasets/kitti_dataset.py

@@ -275,12 +275,9 @@ class KittiDataset(torch_data.Dataset):
         else:
             tmp_dir = None
 
-        if not isinstance(outputs[0][0], dict):
-            sample_idx = [
-                info['image']['image_idx'] for info in self.kitti_infos
-            ]
+        if not isinstance(outputs[0], dict):
             result_files = self.bbox2result_kitti2d(outputs, self.class_names,
-                                                    sample_idx, pklfile_prefix,
+                                                    pklfile_prefix,
                                                     submission_prefix)
         else:
             result_files = self.bbox2result_kitti(outputs, self.class_names,
@@ -330,6 +327,7 @@ class KittiDataset(torch_data.Dataset):
                           class_names,
                           pklfile_prefix=None,
                           submission_prefix=None):
+        assert len(net_outputs) == len(self.kitti_infos)
         if submission_prefix is not None:
             mmcv.mkdir_or_exist(submission_prefix)
 
@@ -339,13 +337,11 @@ class KittiDataset(torch_data.Dataset):
                 mmcv.track_iter_progress(net_outputs)):
             annos = []
             info = self.kitti_infos[idx]
+            sample_idx = info['image']['image_idx']
             image_shape = info['image']['image_shape'][:2]
-            for i, box_dict in enumerate(pred_dicts):
-                num_example = 0
-                sample_idx = box_dict['sample_idx']
-                box_dict = self.convert_valid_bboxes(box_dict, info)
-                if box_dict['bbox'] is not None or box_dict['bbox'].size.numel(
-                ) != 0:
+
+            box_dict = self.convert_valid_bboxes(pred_dicts, info)
+            if len(box_dict['bbox']) > 0:
                 box_2d_preds = box_dict['bbox']
                 box_preds = box_dict['box3d_camera']
                 scores = box_dict['scores']
@@ -363,11 +359,10 @@ class KittiDataset(torch_data.Dataset):
                     'rotation_y': [],
                     'score': []
                 }
-                    gt_iou = scores * 0
 
-                    for box, box_lidar, bbox, score, label, cur_gt_iou in zip(
+                for box, box_lidar, bbox, score, label in zip(
                         box_preds, box_preds_lidar, box_2d_preds, scores,
-                            label_preds, gt_iou):
+                        label_preds):
                     bbox[2:] = np.minimum(bbox[2:], image_shape[::-1])
                     bbox[:2] = np.maximum(bbox[:2], [0, 0])
                     anno['name'].append(class_names[int(label)])
@@ -379,12 +374,8 @@ class KittiDataset(torch_data.Dataset):
                     anno['dimensions'].append(box[3:6])
                     anno['location'].append(box[:3])
                     anno['rotation_y'].append(box[6])
-                        # anno["gt_iou"].append(cur_gt_iou)
                     anno['score'].append(score)
 
-                        num_example += 1
-
-                    if num_example != 0:
                 anno = {k: np.stack(v) for k, v in anno.items()}
                 annos.append(anno)
 
@@ -399,19 +390,16 @@ class KittiDataset(torch_data.Dataset):
                             print(
                                 '{} -1 -1 {:.4f} {:.4f} {:.4f} {:.4f} '
                                 '{:.4f} {:.4f} {:.4f} '
-                                    '{:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f}'
-                                    .format(anno['name'][idx],
-                                            anno['alpha'][idx], bbox[idx][0],
-                                            bbox[idx][1], bbox[idx][2],
-                                            bbox[idx][3], dims[idx][1],
-                                            dims[idx][2], dims[idx][0],
-                                            loc[idx][0], loc[idx][1],
-                                            loc[idx][2],
-                                            anno['rotation_y'][idx],
+                                '{:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f}'.
+                                format(anno['name'][idx], anno['alpha'][idx],
+                                       bbox[idx][0], bbox[idx][1],
+                                       bbox[idx][2], bbox[idx][3],
+                                       dims[idx][1], dims[idx][2],
+                                       dims[idx][0], loc[idx][0], loc[idx][1],
+                                       loc[idx][2], anno['rotation_y'][idx],
                                        anno['score'][idx]),
                                 file=f)
-
-                if num_example == 0:
+            else:
                 annos.append({
                     'name': np.array([]),
                     'truncated': np.array([]),
@@ -424,7 +412,7 @@ class KittiDataset(torch_data.Dataset):
                     'score': np.array([]),
                 })
             annos[-1]['sample_idx'] = np.array(
-                    [sample_idx] * num_example, dtype=np.int64)
+                [sample_idx] * len(annos[-1]['score']), dtype=np.int64)
 
             det_annos += annos
 
@@ -439,7 +427,6 @@ class KittiDataset(torch_data.Dataset):
     def bbox2result_kitti2d(self,
                             net_outputs,
                             class_names,
-                            sample_ids,
                             pklfile_prefix=None,
                             submission_prefix=None):
         """Convert results to kitti format for evaluation and test submission
@@ -447,18 +434,16 @@ class KittiDataset(torch_data.Dataset):
         Args:
             net_outputs (List[array]): list of array storing the bbox and score
             class_nanes (List[String]): A list of class names
-            sample_idx (List[Int]): A list of samples' index,
-                should have the same length as net_outputs.
             pklfile_prefix (str | None): The prefix of pkl file.
             submission_prefix (str | None): The prefix of submission file.
 
         Return:
             List([dict]): A list of dict have the kitti format
         """
-        assert len(net_outputs) == len(sample_ids)
+        assert len(net_outputs) == len(self.kitti_infos)
 
         det_annos = []
-        print('Converting prediction to KITTI format')
+        print('\nConverting prediction to KITTI format')
         for i, bboxes_per_sample in enumerate(
                 mmcv.track_iter_progress(net_outputs)):
             annos = []
@@ -472,7 +457,7 @@ class KittiDataset(torch_data.Dataset):
                 location=[],
                 rotation_y=[],
                 score=[])
-            sample_idx = sample_ids[i]
+            sample_idx = self.kitti_infos[i]['image']['image_idx']
 
             num_example = 0
             for label in range(len(bboxes_per_sample)):
@@ -526,7 +511,7 @@ class KittiDataset(torch_data.Dataset):
             mmcv.mkdir_or_exist(submission_prefix)
             print(f'Saving KITTI submission to {submission_prefix}')
             for i, anno in enumerate(det_annos):
-                sample_idx = sample_ids[i]
+                sample_idx = self.kitti_infos[i]['image']['image_idx']
                 cur_det_file = f'{submission_prefix}/{sample_idx:06d}.txt'
                 with open(cur_det_file, 'w') as f:
                     bbox = anno['bbox']
@@ -551,9 +536,9 @@ class KittiDataset(torch_data.Dataset):
 
     def convert_valid_bboxes(self, box_dict, info):
         # TODO: refactor this function
-        final_box_preds = box_dict['box3d_lidar']
-        final_scores = box_dict['scores']
-        final_labels = box_dict['label_preds']
+        final_box_preds = box_dict['boxes_3d']
+        final_scores = box_dict['scores_3d']
+        final_labels = box_dict['labels_3d']
         sample_idx = info['image']['image_idx']
         final_box_preds[:, -1] = box_np_ops.limit_period(
             final_box_preds[:, -1] - np.pi, offset=0.5, period=np.pi * 2)

mmdet3d/datasets/nuscenes_dataset.py

@@ -275,15 +275,14 @@ class NuScenesDataset(torch_data.Dataset):
     def _format_bbox(self, results, jsonfile_prefix=None):
         nusc_annos = {}
         mapped_class_names = self.class_names
-        token2info = {}
-        for info in self.data_infos:
-            token2info[info['token']] = info
+
         print('Start to convert detection format...')
-        for det in mmcv.track_iter_progress(results):
+        for sample_id, det in enumerate(mmcv.track_iter_progress(results)):
             annos = []
-            boxes = output_to_nusc_box(det[0])
-            boxes = lidar_nusc_box_to_global(token2info[det[0]['sample_idx']],
-                                             boxes, mapped_class_names,
+            boxes = output_to_nusc_box(det)
+            sample_token = self.data_infos[sample_id]['token']
+            boxes = lidar_nusc_box_to_global(self.data_infos[sample_id], boxes,
+                                             mapped_class_names,
                                              self.eval_detection_configs,
                                              self.eval_version)
             for i, box in enumerate(boxes):
@@ -310,7 +309,7 @@ class NuScenesDataset(torch_data.Dataset):
                         attr = NuScenesDataset.DefaultAttribute[name]
 
                 nusc_anno = dict(
-                    sample_token=det[0]['sample_idx'],
+                    sample_token=sample_token,
                     translation=box.center.tolist(),
                     size=box.wlh.tolist(),
                     rotation=box.orientation.elements.tolist(),
@@ -319,7 +318,7 @@ class NuScenesDataset(torch_data.Dataset):
                     detection_score=box.score,
                     attribute_name=attr)
                 annos.append(nusc_anno)
-            nusc_annos[det[0]['sample_idx']] = annos
+            nusc_annos[sample_token] = annos
         nusc_submissions = {
             'meta': self.modality,
             'results': nusc_annos,
@@ -401,7 +400,7 @@ class NuScenesDataset(torch_data.Dataset):
         else:
             result_files = dict()
             for name in results[0]:
-                print('Formating bboxes of {}'.format(name))
+                print(f'\nFormating bboxes of {name}')
                 results_ = [out[name] for out in results]
                 tmp_file_ = osp.join(jsonfile_prefix, name)
                 result_files.update(
@@ -445,9 +444,9 @@ class NuScenesDataset(torch_data.Dataset):
 
 
 def output_to_nusc_box(detection):
-    box3d = detection['box3d_lidar'].numpy()
-    scores = detection['scores'].numpy()
-    labels = detection['label_preds'].numpy()
+    box3d = detection['boxes_3d'].numpy()
+    scores = detection['scores_3d'].numpy()
+    labels = detection['labels_3d'].numpy()
     # TODO: check whether this is necessary
     # with dir_offset & dir_limit in the head
     box3d[:, 6] = -box3d[:, 6] - np.pi / 2

mmdet3d/models/__init__.py

-from .anchor_heads import *  # noqa: F401,F403
 from .backbones import *  # noqa: F401,F403
 from .builder import (build_backbone, build_detector, build_fusion_layer,
                       build_head, build_loss, build_middle_encoder, build_neck,
                       build_roi_extractor, build_shared_head,
                       build_voxel_encoder)
+from .dense_heads import *  # noqa: F401,F403
 from .detectors import *  # noqa: F401,F403
 from .fusion_layers import *  # noqa: F401,F403
 from .losses import *  # noqa: F401,F403

mmdet3d/models/anchor_heads/__init__.py

-from .boxvelo_head import Anchor3DVeloHead
-from .parta2_rpn_head import PartA2RPNHead
-from .second_head import SECONDHead
-
-__all__ = ['Anchor3DVeloHead', 'SECONDHead', 'PartA2RPNHead']

mmdet3d/models/anchor_heads/boxvelo_head.py

-import numpy as np
-import torch
-from mmcv.cnn import bias_init_with_prob, normal_init
-
-from mmdet3d.core import box_torch_ops, boxes3d_to_bev_torch_lidar
-from mmdet3d.ops.iou3d.iou3d_utils import nms_gpu, nms_normal_gpu
-from mmdet.models import HEADS
-from .second_head import SECONDHead
-
-
-@HEADS.register_module()
-class Anchor3DVeloHead(SECONDHead):
-    """Anchor-based head for 3D anchor with velocity
-    Args:
-        in_channels (int): Number of channels in the input feature map.
-        feat_channels (int): Number of channels of the feature map.
-        loss_cls (dict): Config of classification loss.
-        loss_bbox (dict): Config of localization loss.
-    """  # noqa: W605
-
-    def __init__(self,
-                 class_names,
-                 num_classes,
-                 in_channels,
-                 train_cfg,
-                 test_cfg,
-                 feat_channels=256,
-                 use_direction_classifier=True,
-                 encode_bg_as_zeros=False,
-                 box_code_size=9,
-                 anchor_generator=dict(
-                     type='Anchor3DRangeGenerator',
-                     range=[0, -39.68, -1.78, 69.12, 39.68, -1.78],
-                     strides=[2],
-                     sizes=[[1.6, 3.9, 1.56]],
-                     rotations=[0, 1.57],
-                     custom_values=[0, 0],
-                     reshape_out=True,
-                 ),
-                 assigner_per_size=False,
-                 assign_per_class=False,
-                 diff_rad_by_sin=True,
-                 dir_offset=0,
-                 dir_limit_offset=1,
-                 bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
-                 loss_cls=dict(
-                     type='CrossEntropyLoss',
-                     use_sigmoid=True,
-                     loss_weight=1.0),
-                 loss_bbox=dict(
-                     type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=2.0),
-                 loss_dir=dict(type='CrossEntropyLoss', loss_weight=0.2)):
-        super().__init__(class_names, in_channels, train_cfg, test_cfg,
-                         feat_channels, use_direction_classifier,
-                         encode_bg_as_zeros, box_code_size, anchor_generator,
-                         assigner_per_size, assign_per_class, diff_rad_by_sin,
-                         dir_offset, dir_limit_offset, bbox_coder, loss_cls,
-                         loss_bbox, loss_dir)
-        self.num_classes = num_classes
-        # build head layers & losses
-        if not self.use_sigmoid_cls:
-            self.num_classes += 1
-        self._init_layers()
-
-    def init_weights(self):
-        # pass
-        # use the initialization when ready
-        bias_cls = bias_init_with_prob(0.01)
-        normal_init(self.conv_cls, std=0.01, bias=bias_cls)
-        normal_init(self.conv_reg, std=0.01)
-
-    @staticmethod
-    def add_sin_difference(boxes1, boxes2):
-        # Caution: the 7th dim is the rotation, (last dim without velo)
-        rad_pred_encoding = torch.sin(boxes1[..., 6:7]) * torch.cos(
-            boxes2[..., 6:7])
-        rad_tg_encoding = torch.cos(boxes1[..., 6:7]) * torch.sin(boxes2[...,
-                                                                         6:7])
-        boxes1 = torch.cat(
-            [boxes1[..., :6], rad_pred_encoding, boxes1[..., 7:]], dim=-1)
-        boxes2 = torch.cat([boxes2[..., :6], rad_tg_encoding, boxes2[..., 7:]],
-                           dim=-1)
-        return boxes1, boxes2
-
-    def get_bboxes_single(self,
-                          cls_scores,
-                          bbox_preds,
-                          dir_cls_preds,
-                          mlvl_anchors,
-                          input_meta,
-                          rescale=False):
-        assert len(cls_scores) == len(bbox_preds) == len(mlvl_anchors)
-        mlvl_bboxes = []
-        mlvl_scores = []
-        mlvl_dir_scores = []
-        for cls_score, bbox_pred, dir_cls_pred, anchors in zip(
-                cls_scores, bbox_preds, dir_cls_preds, mlvl_anchors):
-            assert cls_score.size()[-2:] == bbox_pred.size()[-2:]
-            assert cls_score.size()[-2:] == dir_cls_pred.size()[-2:]
-            dir_cls_pred = dir_cls_pred.permute(1, 2, 0).reshape(-1, 2)
-            dir_cls_score = torch.max(dir_cls_pred, dim=-1)[1]
-
-            cls_score = cls_score.permute(1, 2,
-                                          0).reshape(-1, self.num_classes)
-            if self.use_sigmoid_cls:
-                scores = cls_score.sigmoid()
-            else:
-                scores = cls_score.softmax(-1)
-            bbox_pred = bbox_pred.permute(1, 2,
-                                          0).reshape(-1, self.box_code_size)
-
-            nms_pre = self.test_cfg.get('nms_pre', -1)
-            if nms_pre > 0 and scores.shape[0] > nms_pre:
-                if self.use_sigmoid_cls:
-                    max_scores, _ = scores.max(dim=1)
-                else:
-                    max_scores, _ = scores[:, :-1].max(dim=1)
-                _, topk_inds = max_scores.topk(nms_pre)
-                anchors = anchors[topk_inds, :]
-                bbox_pred = bbox_pred[topk_inds, :]
-                scores = scores[topk_inds, :]
-                dir_cls_score = dir_cls_score[topk_inds]
-
-            bboxes = self.bbox_coder.decode(anchors, bbox_pred)
-            mlvl_bboxes.append(bboxes)
-            mlvl_scores.append(scores)
-            mlvl_dir_scores.append(dir_cls_score)
-
-        mlvl_bboxes = torch.cat(mlvl_bboxes)
-        mlvl_bboxes_for_nms = boxes3d_to_bev_torch_lidar(mlvl_bboxes)
-        mlvl_scores = torch.cat(mlvl_scores)
-        mlvl_dir_scores = torch.cat(mlvl_dir_scores)
-
-        if self.use_sigmoid_cls:
-            # Add a dummy background class to the front when using sigmoid
-            padding = mlvl_scores.new_zeros(mlvl_scores.shape[0], 1)
-            mlvl_scores = torch.cat([mlvl_scores, padding], dim=1)
-
-        score_thr = self.test_cfg.get('score_thr', 0)
-        result = self.multiclass_nms(mlvl_bboxes, mlvl_bboxes_for_nms,
-                                     mlvl_scores, mlvl_dir_scores, score_thr,
-                                     self.test_cfg.max_per_img)
-
-        result.update(dict(sample_idx=input_meta['sample_idx']))
-        return result
-
-    def multiclass_nms(self, mlvl_bboxes, mlvl_bboxes_for_nms, mlvl_scores,
-                       mlvl_dir_scores, score_thr, max_num):
-        # do multi class nms
-        # the fg class id range: [0, num_classes-1]
-        num_classes = mlvl_scores.shape[1] - 1
-        bboxes = []
-        scores = []
-        labels = []
-        dir_scores = []
-        for i in range(0, num_classes):
-            # get bboxes and scores of this class
-            cls_inds = mlvl_scores[:, i] > score_thr
-            if not cls_inds.any():
-                continue
-            _scores = mlvl_scores[cls_inds, i]
-            _bboxes_for_nms = mlvl_bboxes_for_nms[cls_inds, :]
-            if self.test_cfg.use_rotate_nms:
-                nms_func = nms_gpu
-            else:
-                nms_func = nms_normal_gpu
-            selected = nms_func(_bboxes_for_nms, _scores,
-                                self.test_cfg.nms_thr)
-
-            _mlvl_bboxes = mlvl_bboxes[cls_inds, :]
-            _mlvl_dir_scores = mlvl_dir_scores[cls_inds]
-
-            if len(selected) > 0:
-                bboxes.append(_mlvl_bboxes[selected])
-                scores.append(_scores[selected])
-                dir_scores.append(_mlvl_dir_scores[selected])
-                dir_rot = box_torch_ops.limit_period(
-                    bboxes[-1][..., 6] - self.dir_offset,
-                    self.dir_limit_offset, np.pi)
-                bboxes[-1][..., 6] = (
-                    dir_rot + self.dir_offset +
-                    np.pi * dir_scores[-1].to(bboxes[-1].dtype))
-
-                cls_label = mlvl_bboxes.new_full((len(selected), ),
-                                                 i,
-                                                 dtype=torch.long)
-                labels.append(cls_label)
-
-        if bboxes:
-            bboxes = torch.cat(bboxes, dim=0)
-            scores = torch.cat(scores, dim=0)
-            labels = torch.cat(labels, dim=0)
-            dir_scores = torch.cat(dir_scores, dim=0)
-            if bboxes.shape[0] > max_num:
-                _, inds = scores.sort(descending=True)
-                inds = inds[:max_num]
-                bboxes = bboxes[inds, :]
-                labels = labels[inds]
-                scores = scores[inds]
-                dir_scores = dir_scores[inds]
-            return dict(
-                box3d_lidar=bboxes.cpu(),
-                scores=scores.cpu(),
-                label_preds=labels.cpu(),
-            )
-        else:
-            return dict(
-                box3d_lidar=mlvl_bboxes.new_zeros([0,
-                                                   self.box_code_size]).cpu(),
-                scores=mlvl_bboxes.new_zeros([0]).cpu(),
-                label_preds=mlvl_bboxes.new_zeros([0, 4]).cpu(),
-            )