Add support for DSVT (#1379)

Add support for DSVT

README.md

@@ -23,6 +23,8 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18
 
 
 ## Changelog
+[2023-06-30] **NEW:** Added support for [`DSVT`](https://arxiv.org/abs/2301.06051), which achieves state-of-the-art performance on large-scale Waymo Open Dataset with real-time inference speed (27HZ with TensorRT).
+
 [2023-05-13] **NEW:** Added support for the multi-modal 3D object detection models on Nuscenes dataset.  
 * Support multi-modal Nuscenes detection (See the [GETTING_STARTED.md](docs/GETTING_STARTED.md) to process data).
 * Support [TransFusion-Lidar](https://arxiv.org/abs/2203.11496) head, which ahcieves 69.43% NDS on Nuscenes validation dataset.
@@ -192,6 +194,8 @@ Here we also provide the performance of several models trained on the full train
 | [PV-RCNN (CenterHead)](tools/cfgs/waymo_models/pv_rcnn_with_centerhead_rpn.yaml)          | 78.00/77.50 | 69.43/68.98 | 79.21/73.03 | 70.42/64.72 | 71.46/70.27 | 68.95/67.79 |
 | [PV-RCNN++](tools/cfgs/waymo_models/pv_rcnn_plusplus.yaml)                                | 79.10/78.63 | 70.34/69.91 | 80.62/74.62 | 71.86/66.30 | 73.49/72.38 | 70.70/69.62 |
 | [PV-RCNN++ (ResNet)](tools/cfgs/waymo_models/pv_rcnn_plusplus_resnet.yaml)                | 79.25/78.78 | 70.61/70.18 | 81.83/76.28 | 73.17/68.00 | 73.72/72.66 | 71.21/70.19 |
+| [DSVT-Pillar](tools/cfgs/waymo_models/dsvt_pillar.yaml)                             | 79.44/78.97 | 71.24/70.81 | 83.00/77.22 | 75.45/69.95 | 76.70/75.70 | 73.83/72.86 |
+| [DSVT-Voxel](tools/cfgs/waymo_models/dsvt_voxel.yaml)                             | 79.77/79.31 | 71.67/71.25 | 83.75/78.92 | 76.21/71.57 | 77.57/76.58 | 74.70/73.73 |
 | [PV-RCNN++ (ResNet, 2 frames)](tools/cfgs/waymo_models/pv_rcnn_plusplus_resnet_2frames.yaml) | 80.17/79.70 | 72.14/71.70 | 83.48/80.42 | 75.54/72.61 | 74.63/73.75 | 72.35/71.50 |
 | [MPPNet (4 frames)](docs/guidelines_of_approaches/mppnet.md)                              | 81.54/81.06 | 74.07/73.61 | 84.56/81.94 | 77.20/74.67 | 77.15/76.50 | 75.01/74.38 |
 | [MPPNet (16 frames)](docs/guidelines_of_approaches/mppnet.md)                             | 82.74/82.28 | 75.41/74.96 | 84.69/82.25 | 77.43/75.06 | 77.28/76.66 | 75.13/74.52 |
@@ -201,6 +205,7 @@ Here we also provide the performance of several models trained on the full train
 
 
 
+
 We could not provide the above pretrained models due to [Waymo Dataset License Agreement](https://waymo.com/open/terms/), 
 but you could easily achieve similar performance by training with the default configs.
 

pcdet/datasets/waymo/waymo_dataset.py

@@ -200,7 +200,11 @@ class WaymoDataset(DatasetTemplate):
         points_all, NLZ_flag = point_features[:, 0:5], point_features[:, 5]
         if not self.dataset_cfg.get('DISABLE_NLZ_FLAG_ON_POINTS', False):
             points_all = points_all[NLZ_flag == -1]
-        points_all[:, 3] = np.tanh(points_all[:, 3])
+        if self.dataset_cfg.get('POINTS_TANH_DIM', None) is None:
+            points_all[:, 3] = np.tanh(points_all[:, 3])
+        else:
+            for dim_idx in self.dataset_cfg.POINTS_TANH_DIM:
+                points_all[:, dim_idx] = np.tanh(points_all[:, dim_idx])
         return points_all
 
     @staticmethod

pcdet/models/backbones_2d/__init__.py

-from .base_bev_backbone import BaseBEVBackbone, BaseBEVBackboneV1
+from .base_bev_backbone import BaseBEVBackbone, BaseBEVBackboneV1, BaseBEVResBackbone
 
 __all__ = {
     'BaseBEVBackbone': BaseBEVBackbone,
-    'BaseBEVBackboneV1': BaseBEVBackboneV1
+    'BaseBEVBackboneV1': BaseBEVBackboneV1,
+    'BaseBEVResBackbone': BaseBEVResBackbone,
 }

pcdet/models/backbones_2d/base_bev_backbone.py

@@ -202,3 +202,150 @@ class BaseBEVBackboneV1(nn.Module):
         data_dict['spatial_features_2d'] = x
 
         return data_dict
+
+
+class BasicBlock(nn.Module):
+    expansion: int = 1
+
+    def __init__(
+        self,
+        inplanes: int,
+        planes: int,
+        stride: int = 1,
+        padding: int = 1,
+        downsample: bool = False,
+    ) -> None:
+        super().__init__()
+        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=3, stride=stride, padding=padding, bias=False)
+        self.bn1 = nn.BatchNorm2d(planes, eps=1e-3, momentum=0.01)
+        self.relu1 = nn.ReLU()
+        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, padding=1, bias=False)
+        self.bn2 = nn.BatchNorm2d(planes, eps=1e-3, momentum=0.01)
+        self.relu2 = nn.ReLU()
+        self.downsample = downsample
+        if self.downsample:
+            self.downsample_layer = nn.Sequential(
+                nn.Conv2d(inplanes, planes, kernel_size=1, stride=stride, padding=0, bias=False),
+                nn.BatchNorm2d(planes, eps=1e-3, momentum=0.01)
+            )
+        self.stride = stride
+
+    def forward(self, x):
+        identity = x
+
+        out = self.conv1(x)
+        out = self.bn1(out)
+        out = self.relu1(out)
+
+        out = self.conv2(out)
+        out = self.bn2(out)
+
+        if self.downsample:
+            identity = self.downsample_layer(x)
+
+        out += identity
+        out = self.relu2(out)
+
+        return out
+
+
+class BaseBEVResBackbone(nn.Module):
+    def __init__(self, model_cfg, input_channels):
+        super().__init__()
+        self.model_cfg = model_cfg
+
+        if self.model_cfg.get('LAYER_NUMS', None) is not None:
+            assert len(self.model_cfg.LAYER_NUMS) == len(self.model_cfg.LAYER_STRIDES) == len(self.model_cfg.NUM_FILTERS)
+            layer_nums = self.model_cfg.LAYER_NUMS
+            layer_strides = self.model_cfg.LAYER_STRIDES
+            num_filters = self.model_cfg.NUM_FILTERS
+        else:
+            layer_nums = layer_strides = num_filters = []
+
+        if self.model_cfg.get('UPSAMPLE_STRIDES', None) is not None:
+            assert len(self.model_cfg.UPSAMPLE_STRIDES) == len(self.model_cfg.NUM_UPSAMPLE_FILTERS)
+            num_upsample_filters = self.model_cfg.NUM_UPSAMPLE_FILTERS
+            upsample_strides = self.model_cfg.UPSAMPLE_STRIDES
+        else:
+            upsample_strides = num_upsample_filters = []
+
+        num_levels = len(layer_nums)
+        c_in_list = [input_channels, *num_filters[:-1]]
+        self.blocks = nn.ModuleList()
+        self.deblocks = nn.ModuleList()
+        for idx in range(num_levels):
+            cur_layers = [
+                # nn.ZeroPad2d(1),
+                BasicBlock(c_in_list[idx], num_filters[idx], layer_strides[idx], 1, True)
+            ]
+            for k in range(layer_nums[idx]):
+                cur_layers.extend([
+                    BasicBlock(num_filters[idx], num_filters[idx])
+                ])
+            self.blocks.append(nn.Sequential(*cur_layers))
+            if len(upsample_strides) > 0:
+                stride = upsample_strides[idx]
+                if stride >= 1:
+                    self.deblocks.append(nn.Sequential(
+                        nn.ConvTranspose2d(
+                            num_filters[idx], num_upsample_filters[idx],
+                            upsample_strides[idx],
+                            stride=upsample_strides[idx], bias=False
+                        ),
+                        nn.BatchNorm2d(num_upsample_filters[idx], eps=1e-3, momentum=0.01),
+                        nn.ReLU()
+                    ))
+                else:
+                    stride = np.round(1 / stride).astype(np.int)
+                    self.deblocks.append(nn.Sequential(
+                        nn.Conv2d(
+                            num_filters[idx], num_upsample_filters[idx],
+                            stride,
+                            stride=stride, bias=False
+                        ),
+                        nn.BatchNorm2d(num_upsample_filters[idx], eps=1e-3, momentum=0.01),
+                        nn.ReLU()
+                    ))
+
+        c_in = sum(num_upsample_filters) if len(num_upsample_filters) > 0 else sum(num_filters)
+        if len(upsample_strides) > num_levels:
+            self.deblocks.append(nn.Sequential(
+                nn.ConvTranspose2d(c_in, c_in, upsample_strides[-1], stride=upsample_strides[-1], bias=False),
+                nn.BatchNorm2d(c_in, eps=1e-3, momentum=0.01),
+                nn.ReLU(),
+            ))
+
+        self.num_bev_features = c_in
+
+    def forward(self, data_dict):
+        """
+        Args:
+            data_dict:
+                spatial_features
+        Returns:
+        """
+        spatial_features = data_dict['spatial_features']
+        ups = []
+        ret_dict = {}
+        x = spatial_features
+        for i in range(len(self.blocks)):
+            x = self.blocks[i](x)
+
+            stride = int(spatial_features.shape[2] / x.shape[2])
+            ret_dict['spatial_features_%dx' % stride] = x
+            if len(self.deblocks) > 0:
+                ups.append(self.deblocks[i](x))
+            else:
+                ups.append(x)
+
+        if len(ups) > 1:
+            x = torch.cat(ups, dim=1)
+        elif len(ups) == 1:
+            x = ups[0]
+
+        if len(self.deblocks) > len(self.blocks):
+            x = self.deblocks[-1](x)
+
+        data_dict['spatial_features_2d'] = x
+
+        return data_dict

pcdet/models/backbones_2d/map_to_bev/__init__.py

 from .height_compression import HeightCompression
-from .pointpillar_scatter import PointPillarScatter
+from .pointpillar_scatter import PointPillarScatter, PointPillarScatter3d
 from .conv2d_collapse import Conv2DCollapse
 
 __all__ = {
     'HeightCompression': HeightCompression,
     'PointPillarScatter': PointPillarScatter,
-    'Conv2DCollapse': Conv2DCollapse
+    'Conv2DCollapse': Conv2DCollapse,
+    'PointPillarScatter3d': PointPillarScatter3d,
 }

pcdet/models/backbones_2d/map_to_bev/pointpillar_scatter.py

@@ -35,3 +35,39 @@ class PointPillarScatter(nn.Module):
         batch_spatial_features = batch_spatial_features.view(batch_size, self.num_bev_features * self.nz, self.ny, self.nx)
         batch_dict['spatial_features'] = batch_spatial_features
         return batch_dict
+
+
+class PointPillarScatter3d(nn.Module):
+    def __init__(self, model_cfg, grid_size, **kwargs):
+        super().__init__()
+        
+        self.model_cfg = model_cfg
+        self.nx, self.ny, self.nz = self.model_cfg.INPUT_SHAPE
+        self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES
+        self.num_bev_features_before_compression = self.model_cfg.NUM_BEV_FEATURES // self.nz
+
+    def forward(self, batch_dict, **kwargs):
+        pillar_features, coords = batch_dict['pillar_features'], batch_dict['voxel_coords']
+        
+        batch_spatial_features = []
+        batch_size = coords[:, 0].max().int().item() + 1
+        for batch_idx in range(batch_size):
+            spatial_feature = torch.zeros(
+                self.num_bev_features_before_compression,
+                self.nz * self.nx * self.ny,
+                dtype=pillar_features.dtype,
+                device=pillar_features.device)
+
+            batch_mask = coords[:, 0] == batch_idx
+            this_coords = coords[batch_mask, :]
+            indices = this_coords[:, 1] * self.ny * self.nx + this_coords[:, 2] * self.nx + this_coords[:, 3]
+            indices = indices.type(torch.long)
+            pillars = pillar_features[batch_mask, :]
+            pillars = pillars.t()
+            spatial_feature[:, indices] = pillars
+            batch_spatial_features.append(spatial_feature)
+
+        batch_spatial_features = torch.stack(batch_spatial_features, 0)
+        batch_spatial_features = batch_spatial_features.view(batch_size, self.num_bev_features_before_compression * self.nz, self.ny, self.nx)
+        batch_dict['spatial_features'] = batch_spatial_features
+        return batch_dict
\ No newline at end of file

pcdet/models/backbones_3d/__init__.py

@@ -5,6 +5,7 @@ from .spconv_backbone_focal import VoxelBackBone8xFocal
 from .spconv_backbone_voxelnext import VoxelResBackBone8xVoxelNeXt
 from .spconv_backbone_voxelnext2d import VoxelResBackBone8xVoxelNeXt2D
 from .spconv_unet import UNetV2
+from .dsvt import DSVT
 
 __all__ = {
     'VoxelBackBone8x': VoxelBackBone8x,
@@ -16,5 +17,6 @@ __all__ = {
     'VoxelResBackBone8xVoxelNeXt': VoxelResBackBone8xVoxelNeXt,
     'VoxelResBackBone8xVoxelNeXt2D': VoxelResBackBone8xVoxelNeXt2D,
     'PillarBackBone8x': PillarBackBone8x,
-    'PillarRes18BackBone8x': PillarRes18BackBone8x
+    'PillarRes18BackBone8x': PillarRes18BackBone8x,
+    'DSVT': DSVT,
 }

pcdet/models/backbones_3d/vfe/__init__.py

@@ -2,6 +2,7 @@ from .mean_vfe import MeanVFE
 from .pillar_vfe import PillarVFE
 from .dynamic_mean_vfe import DynamicMeanVFE
 from .dynamic_pillar_vfe import DynamicPillarVFE, DynamicPillarVFESimple2D
+from .dynamic_voxel_vfe import DynamicVoxelVFE
 from .image_vfe import ImageVFE
 from .vfe_template import VFETemplate
 
@@ -12,5 +13,6 @@ __all__ = {
     'ImageVFE': ImageVFE,
     'DynMeanVFE': DynamicMeanVFE,
     'DynPillarVFE': DynamicPillarVFE,
-    'DynamicPillarVFESimple2D': DynamicPillarVFESimple2D
+    'DynamicPillarVFESimple2D': DynamicPillarVFESimple2D,
+    'DynamicVoxelVFE': DynamicVoxelVFE,
 }

pcdet/models/backbones_3d/vfe/dynamic_voxel_vfe.py

+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+try:
+    import torch_scatter
+except Exception as e:
+    # Incase someone doesn't want to use dynamic pillar vfe and hasn't installed torch_scatter
+    pass
+
+from .vfe_template import VFETemplate
+from .dynamic_pillar_vfe import PFNLayerV2
+
+
+class DynamicVoxelVFE(VFETemplate):
+    def __init__(self, model_cfg, num_point_features, voxel_size, grid_size, point_cloud_range, **kwargs):
+        super().__init__(model_cfg=model_cfg)
+
+        self.use_norm = self.model_cfg.USE_NORM
+        self.with_distance = self.model_cfg.WITH_DISTANCE
+        self.use_absolute_xyz = self.model_cfg.USE_ABSLOTE_XYZ
+        num_point_features += 6 if self.use_absolute_xyz else 3
+        if self.with_distance:
+            num_point_features += 1
+
+        self.num_filters = self.model_cfg.NUM_FILTERS
+        assert len(self.num_filters) > 0
+        num_filters = [num_point_features] + list(self.num_filters)
+
+        pfn_layers = []
+        for i in range(len(num_filters) - 1):
+            in_filters = num_filters[i]
+            out_filters = num_filters[i + 1]
+            pfn_layers.append(
+                PFNLayerV2(in_filters, out_filters, self.use_norm, last_layer=(i >= len(num_filters) - 2))
+            )
+        self.pfn_layers = nn.ModuleList(pfn_layers)
+
+        self.voxel_x = voxel_size[0]
+        self.voxel_y = voxel_size[1]
+        self.voxel_z = voxel_size[2]
+        self.x_offset = self.voxel_x / 2 + point_cloud_range[0]
+        self.y_offset = self.voxel_y / 2 + point_cloud_range[1]
+        self.z_offset = self.voxel_z / 2 + point_cloud_range[2]
+
+        self.scale_xyz = grid_size[0] * grid_size[1] * grid_size[2]
+        self.scale_yz = grid_size[1] * grid_size[2]
+        self.scale_z = grid_size[2]
+
+        self.grid_size = torch.tensor(grid_size).cuda()
+        self.voxel_size = torch.tensor(voxel_size).cuda()
+        self.point_cloud_range = torch.tensor(point_cloud_range).cuda()
+
+    def get_output_feature_dim(self):
+        return self.num_filters[-1]
+
+    def forward(self, batch_dict, **kwargs):
+        points = batch_dict['points'] # (batch_idx, x, y, z, i, e)
+
+        points_coords = torch.floor((points[:, [1,2,3]] - self.point_cloud_range[[0,1,2]]) / self.voxel_size[[0,1,2]]).int()
+        mask = ((points_coords >= 0) & (points_coords < self.grid_size[[0,1,2]])).all(dim=1)
+        points = points[mask]
+        points_coords = points_coords[mask]
+        points_xyz = points[:, [1, 2, 3]].contiguous()
+
+        merge_coords = points[:, 0].int() * self.scale_xyz + \
+                       points_coords[:, 0] * self.scale_yz + \
+                       points_coords[:, 1] * self.scale_z + \
+                       points_coords[:, 2]
+
+        unq_coords, unq_inv, unq_cnt = torch.unique(merge_coords, return_inverse=True, return_counts=True, dim=0)
+
+        points_mean = torch_scatter.scatter_mean(points_xyz, unq_inv, dim=0)
+        f_cluster = points_xyz - points_mean[unq_inv, :]
+
+        f_center = torch.zeros_like(points_xyz)
+        f_center[:, 0] = points_xyz[:, 0] - (points_coords[:, 0].to(points_xyz.dtype) * self.voxel_x + self.x_offset)
+        f_center[:, 1] = points_xyz[:, 1] - (points_coords[:, 1].to(points_xyz.dtype) * self.voxel_y + self.y_offset)
+        # f_center[:, 2] = points_xyz[:, 2] - self.z_offset
+        f_center[:, 2] = points_xyz[:, 2] - (points_coords[:, 2].to(points_xyz.dtype) * self.voxel_z + self.z_offset)
+
+        if self.use_absolute_xyz:
+            features = [points[:, 1:], f_cluster, f_center]
+        else:
+            features = [points[:, 4:], f_cluster, f_center]
+
+        if self.with_distance:
+            points_dist = torch.norm(points[:, 1:4], 2, dim=1, keepdim=True)
+            features.append(points_dist)
+        features = torch.cat(features, dim=-1)
+
+        for pfn in self.pfn_layers:
+            features = pfn(features, unq_inv)
+
+        # generate voxel coordinates
+        unq_coords = unq_coords.int()
+        voxel_coords = torch.stack((unq_coords // self.scale_xyz,
+                                    (unq_coords % self.scale_xyz) // self.scale_yz,
+                                    (unq_coords % self.scale_yz) // self.scale_z,
+                                    unq_coords % self.scale_z), dim=1)
+        voxel_coords = voxel_coords[:, [0, 3, 2, 1]]
+
+        batch_dict['pillar_features'] = batch_dict['voxel_features'] = features
+        batch_dict['voxel_coords'] = voxel_coords
+
+        return batch_dict

pcdet/models/dense_heads/center_head.py

@@ -6,10 +6,11 @@ from torch.nn.init import kaiming_normal_
 from ..model_utils import model_nms_utils
 from ..model_utils import centernet_utils
 from ...utils import loss_utils
+from functools import partial
 
 
 class SeparateHead(nn.Module):
-    def __init__(self, input_channels, sep_head_dict, init_bias=-2.19, use_bias=False):
+    def __init__(self, input_channels, sep_head_dict, init_bias=-2.19, use_bias=False, norm_func=None):
         super().__init__()
         self.sep_head_dict = sep_head_dict
 
@@ -21,7 +22,7 @@ class SeparateHead(nn.Module):
             for k in range(num_conv - 1):
                 fc_list.append(nn.Sequential(
                     nn.Conv2d(input_channels, input_channels, kernel_size=3, stride=1, padding=1, bias=use_bias),
-                    nn.BatchNorm2d(input_channels),
+                    nn.BatchNorm2d(input_channels) if norm_func is None else norm_func(input_channels),
                     nn.ReLU()
                 ))
             fc_list.append(nn.Conv2d(input_channels, output_channels, kernel_size=3, stride=1, padding=1, bias=True))
@@ -70,12 +71,13 @@ class CenterHead(nn.Module):
         total_classes = sum([len(x) for x in self.class_names_each_head])
         assert total_classes == len(self.class_names), f'class_names_each_head={self.class_names_each_head}'
 
+        norm_func = partial(nn.BatchNorm2d, eps=self.model_cfg.get('BN_EPS', 1e-5), momentum=self.model_cfg.get('BN_MOM', 0.1))
         self.shared_conv = nn.Sequential(
             nn.Conv2d(
                 input_channels, self.model_cfg.SHARED_CONV_CHANNEL, 3, stride=1, padding=1,
                 bias=self.model_cfg.get('USE_BIAS_BEFORE_NORM', False)
             ),
-            nn.BatchNorm2d(self.model_cfg.SHARED_CONV_CHANNEL),
+            norm_func(self.model_cfg.SHARED_CONV_CHANNEL),
             nn.ReLU(),
         )
 
@@ -89,7 +91,8 @@ class CenterHead(nn.Module):
                     input_channels=self.model_cfg.SHARED_CONV_CHANNEL,
                     sep_head_dict=cur_head_dict,
                     init_bias=-2.19,
-                    use_bias=self.model_cfg.get('USE_BIAS_BEFORE_NORM', False)
+                    use_bias=self.model_cfg.get('USE_BIAS_BEFORE_NORM', False),
+                    norm_func=norm_func
                 )
             )
         self.predict_boxes_when_training = predict_boxes_when_training
@@ -116,6 +119,8 @@ class CenterHead(nn.Module):
         ret_boxes = gt_boxes.new_zeros((num_max_objs, gt_boxes.shape[-1] - 1 + 1))
         inds = gt_boxes.new_zeros(num_max_objs).long()
         mask = gt_boxes.new_zeros(num_max_objs).long()
+        ret_boxes_src = gt_boxes.new_zeros(num_max_objs, gt_boxes.shape[-1])
+        ret_boxes_src[:gt_boxes.shape[0]] = gt_boxes
 
         x, y, z = gt_boxes[:, 0], gt_boxes[:, 1], gt_boxes[:, 2]
         coord_x = (x - self.point_cloud_range[0]) / self.voxel_size[0] / feature_map_stride
@@ -154,7 +159,7 @@ class CenterHead(nn.Module):
             if gt_boxes.shape[1] > 8:
                 ret_boxes[k, 8:] = gt_boxes[k, 7:-1]
 
-        return heatmap, ret_boxes, inds, mask
+        return heatmap, ret_boxes, inds, mask, ret_boxes_src
 
     def assign_targets(self, gt_boxes, feature_map_size=None, **kwargs):
         """
@@ -176,12 +181,13 @@ class CenterHead(nn.Module):
             'target_boxes': [],
             'inds': [],
             'masks': [],
-            'heatmap_masks': []
+            'heatmap_masks': [],
+            'target_boxes_src': [],
         }
 
         all_names = np.array(['bg', *self.class_names])
         for idx, cur_class_names in enumerate(self.class_names_each_head):
-            heatmap_list, target_boxes_list, inds_list, masks_list = [], [], [], []
+            heatmap_list, target_boxes_list, inds_list, masks_list, target_boxes_src_list = [], [], [], [], []
             for bs_idx in range(batch_size):
                 cur_gt_boxes = gt_boxes[bs_idx]
                 gt_class_names = all_names[cur_gt_boxes[:, -1].cpu().long().numpy()]
@@ -200,7 +206,7 @@ class CenterHead(nn.Module):
                 else:
                     gt_boxes_single_head = torch.cat(gt_boxes_single_head, dim=0)
 
-                heatmap, ret_boxes, inds, mask = self.assign_target_of_single_head(
+                heatmap, ret_boxes, inds, mask, ret_boxes_src = self.assign_target_of_single_head(
                     num_classes=len(cur_class_names), gt_boxes=gt_boxes_single_head.cpu(),
                     feature_map_size=feature_map_size, feature_map_stride=target_assigner_cfg.FEATURE_MAP_STRIDE,
                     num_max_objs=target_assigner_cfg.NUM_MAX_OBJS,
@@ -211,11 +217,13 @@ class CenterHead(nn.Module):
                 target_boxes_list.append(ret_boxes.to(gt_boxes_single_head.device))
                 inds_list.append(inds.to(gt_boxes_single_head.device))
                 masks_list.append(mask.to(gt_boxes_single_head.device))
+                target_boxes_src_list.append(ret_boxes_src.to(gt_boxes_single_head.device))
 
             ret_dict['heatmaps'].append(torch.stack(heatmap_list, dim=0))
             ret_dict['target_boxes'].append(torch.stack(target_boxes_list, dim=0))
             ret_dict['inds'].append(torch.stack(inds_list, dim=0))
             ret_dict['masks'].append(torch.stack(masks_list, dim=0))
+            ret_dict['target_boxes_src'].append(torch.stack(target_boxes_src_list, dim=0))
         return ret_dict
 
     def sigmoid(self, x):
@@ -247,6 +255,42 @@ class CenterHead(nn.Module):
             tb_dict['hm_loss_head_%d' % idx] = hm_loss.item()
             tb_dict['loc_loss_head_%d' % idx] = loc_loss.item()
 
+            if 'iou' in pred_dict or self.model_cfg.get('IOU_REG_LOSS', False):
+
+                batch_box_preds = centernet_utils.decode_bbox_from_pred_dicts(
+                    pred_dict=pred_dict,
+                    point_cloud_range=self.point_cloud_range, voxel_size=self.voxel_size,
+                    feature_map_stride=self.feature_map_stride
+                )  # (B, H, W, 7 or 9)
+
+                if 'iou' in pred_dict:
+                    batch_box_preds_for_iou = batch_box_preds.permute(0, 3, 1, 2)  # (B, 7 or 9, H, W)
+
+                    iou_loss = loss_utils.calculate_iou_loss_centerhead(
+                        iou_preds=pred_dict['iou'],
+                        batch_box_preds=batch_box_preds_for_iou.clone().detach(),
+                        mask=target_dicts['masks'][idx],
+                        ind=target_dicts['inds'][idx], gt_boxes=target_dicts['target_boxes_src'][idx]
+                    )
+                    loss += iou_loss
+                    tb_dict['iou_loss_head_%d' % idx] = iou_loss.item()
+
+                if self.model_cfg.get('IOU_REG_LOSS', False):
+                    iou_reg_loss = loss_utils.calculate_iou_reg_loss_centerhead(
+                        batch_box_preds=batch_box_preds_for_iou,
+                        mask=target_dicts['masks'][idx],
+                        ind=target_dicts['inds'][idx], gt_boxes=target_dicts['target_boxes_src'][idx]
+                    )
+                    if target_dicts['masks'][idx].sum().item() != 0:
+                        iou_reg_loss = iou_reg_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['loc_weight']
+                        loss += iou_reg_loss
+                        tb_dict['iou_reg_loss_head_%d' % idx] = iou_reg_loss.item()
+                    else:
+                        loss += (batch_box_preds_for_iou * 0.).sum()
+                        tb_dict['iou_reg_loss_head_%d' % idx] = (batch_box_preds_for_iou * 0.).sum()
+
+
+
         tb_dict['rpn_loss'] = loss.item()
         return loss, tb_dict
 
@@ -268,9 +312,11 @@ class CenterHead(nn.Module):
             batch_rot_sin = pred_dict['rot'][:, 1].unsqueeze(dim=1)
             batch_vel = pred_dict['vel'] if 'vel' in self.separate_head_cfg.HEAD_ORDER else None
 
+            batch_iou = (pred_dict['iou'] + 1) * 0.5 if 'iou' in pred_dict else None
+
             final_pred_dicts = centernet_utils.decode_bbox_from_heatmap(
                 heatmap=batch_hm, rot_cos=batch_rot_cos, rot_sin=batch_rot_sin,
-                center=batch_center, center_z=batch_center_z, dim=batch_dim, vel=batch_vel,
+                center=batch_center, center_z=batch_center_z, dim=batch_dim, vel=batch_vel, iou=batch_iou,
                 point_cloud_range=self.point_cloud_range, voxel_size=self.voxel_size,
                 feature_map_stride=self.feature_map_stride,
                 K=post_process_cfg.MAX_OBJ_PER_SAMPLE,
@@ -281,16 +327,31 @@ class CenterHead(nn.Module):
 
             for k, final_dict in enumerate(final_pred_dicts):
                 final_dict['pred_labels'] = self.class_id_mapping_each_head[idx][final_dict['pred_labels'].long()]
-                if post_process_cfg.NMS_CONFIG.NMS_TYPE != 'circle_nms':
+
+                if post_process_cfg.get('USE_IOU_TO_RECTIFY_SCORE', False) and 'pred_iou' in final_dict:
+                    pred_iou = torch.clamp(final_dict['pred_iou'], min=0, max=1.0)
+                    IOU_RECTIFIER = final_dict['pred_scores'].new_tensor(post_process_cfg.IOU_RECTIFIER)
+                    final_dict['pred_scores'] = torch.pow(final_dict['pred_scores'], 1 - IOU_RECTIFIER[final_dict['pred_labels']]) * torch.pow(pred_iou, IOU_RECTIFIER[final_dict['pred_labels']])
+
+                if post_process_cfg.NMS_CONFIG.NMS_TYPE not in  ['circle_nms', 'class_specific_nms']:
                     selected, selected_scores = model_nms_utils.class_agnostic_nms(
                         box_scores=final_dict['pred_scores'], box_preds=final_dict['pred_boxes'],
                         nms_config=post_process_cfg.NMS_CONFIG,
                         score_thresh=None
                     )
 
-                    final_dict['pred_boxes'] = final_dict['pred_boxes'][selected]
-                    final_dict['pred_scores'] = selected_scores
-                    final_dict['pred_labels'] = final_dict['pred_labels'][selected]
+                elif post_process_cfg.NMS_CONFIG.NMS_TYPE == 'class_specific_nms':
+                    selected, selected_scores = model_nms_utils.class_specific_nms(
+                        box_scores=final_dict['pred_scores'], box_preds=final_dict['pred_boxes'],
+                        box_labels=final_dict['pred_labels'], nms_config=post_process_cfg.NMS_CONFIG,
+                        score_thresh=post_process_cfg.NMS_CONFIG.get('SCORE_THRESH', None)
+                    )
+                elif post_process_cfg.NMS_CONFIG.NMS_TYPE == 'circle_nms':
+                    raise NotImplementedError
+
+                final_dict['pred_boxes'] = final_dict['pred_boxes'][selected]
+                final_dict['pred_scores'] = selected_scores
+                final_dict['pred_labels'] = final_dict['pred_labels'][selected]
 
                 ret_dict[k]['pred_boxes'].append(final_dict['pred_boxes'])
                 ret_dict[k]['pred_scores'].append(final_dict['pred_scores'])

pcdet/models/model_utils/centernet_utils.py

@@ -171,7 +171,7 @@ def _topk(scores, K=40):
 
 
 def decode_bbox_from_heatmap(heatmap, rot_cos, rot_sin, center, center_z, dim,
-                             point_cloud_range=None, voxel_size=None, feature_map_stride=None, vel=None, K=100,
+                             point_cloud_range=None, voxel_size=None, feature_map_stride=None, vel=None, iou=None, K=100,
                              circle_nms=False, score_thresh=None, post_center_limit_range=None):
     batch_size, num_class, _, _ = heatmap.size()
 
@@ -199,6 +199,9 @@ def decode_bbox_from_heatmap(heatmap, rot_cos, rot_sin, center, center_z, dim,
         vel = _transpose_and_gather_feat(vel, inds).view(batch_size, K, 2)
         box_part_list.append(vel)
 
+    if iou is not None:
+        iou = _transpose_and_gather_feat(iou, inds).view(batch_size, K)
+
     final_box_preds = torch.cat((box_part_list), dim=-1)
     final_scores = scores.view(batch_size, K)
     final_class_ids = class_ids.view(batch_size, K)
@@ -232,6 +235,9 @@ def decode_bbox_from_heatmap(heatmap, rot_cos, rot_sin, center, center_z, dim,
             'pred_scores': cur_scores,
             'pred_labels': cur_labels
         })
+
+        if iou is not None:
+            ret_pred_dicts[-1]['pred_iou'] = iou[k, cur_mask]
     return ret_pred_dicts
 
 def _topk_1d(scores, batch_size, batch_idx, obj, K=40, nuscenes=False):
@@ -346,3 +352,34 @@ def decode_bbox_from_voxels_nuscenes(batch_size, indices, obj, rot_cos, rot_sin,
             'add_features': cur_add_features,
         })
     return ret_pred_dicts
+
+
+def decode_bbox_from_pred_dicts(pred_dict, point_cloud_range=None, voxel_size=None, feature_map_stride=None):
+    batch_size, _, H, W = pred_dict['center'].shape
+
+    batch_center = pred_dict['center'].permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 2)  # (B, H, W, 2)
+    batch_center_z = pred_dict['center_z'].permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 1)  # (B, H, W, 1)
+    batch_dim = pred_dict['dim'].exp().permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 3)  # (B, H, W, 3)
+    batch_rot_cos = pred_dict['rot'][:, 0].unsqueeze(dim=1).permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 1)  # (B, H, W, 1)
+    batch_rot_sin = pred_dict['rot'][:, 1].unsqueeze(dim=1).permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 1)  # (B, H, W, 1)
+    batch_vel = pred_dict['vel'].permute(0, 2, 3, 1).contiguous().view(batch_size, H*W, 2) if 'vel' in pred_dict.keys() else None
+
+    angle = torch.atan2(batch_rot_sin, batch_rot_cos)  # (B, H*W, 1)
+
+    ys, xs = torch.meshgrid([torch.arange(0, H, device=batch_center.device, dtype=batch_center.dtype),
+                             torch.arange(0, W, device=batch_center.device, dtype=batch_center.dtype)])
+    ys = ys.view(1, H, W).repeat(batch_size, 1, 1)
+    xs = xs.view(1, H, W).repeat(batch_size, 1, 1)
+    xs = xs.view(batch_size, -1, 1) + batch_center[:, :, 0:1]
+    ys = ys.view(batch_size, -1, 1) + batch_center[:, :, 1:2]
+
+    xs = xs * feature_map_stride * voxel_size[0] + point_cloud_range[0]
+    ys = ys * feature_map_stride * voxel_size[1] + point_cloud_range[1]
+
+    box_part_list = [xs, ys, batch_center_z, batch_dim, angle]
+    if batch_vel is not None:
+        box_part_list.append(batch_vel)
+
+    box_preds = torch.cat((box_part_list), dim=-1).view(batch_size, H, W, -1)
+
+    return box_preds

pcdet/models/model_utils/dsvt_utils.py

+import torch
+import torch.nn as nn
+import numpy as np
+from pcdet.ops.ingroup_inds.ingroup_inds_op import ingroup_inds
+
+
+get_inner_win_inds_cuda = ingroup_inds
+
+
+class PositionEmbeddingLearned(nn.Module):
+    """
+    Absolute pos embedding, learned.
+    """
+    def __init__(self, input_channel, num_pos_feats):
+        super().__init__()
+        self.position_embedding_head = nn.Sequential(
+            nn.Linear(input_channel, num_pos_feats),
+            nn.BatchNorm1d(num_pos_feats),
+            nn.ReLU(inplace=True),
+            nn.Linear(num_pos_feats, num_pos_feats))
+
+    def forward(self, xyz):
+        position_embedding = self.position_embedding_head(xyz)
+        return position_embedding
+
+
+@torch.no_grad()
+def get_window_coors(coors, sparse_shape, window_shape, do_shift, shift_list=None, return_win_coors=False):
+
+    if len(window_shape) == 2:
+        win_shape_x, win_shape_y = window_shape
+        win_shape_z = sparse_shape[-1]
+    else:
+        win_shape_x, win_shape_y, win_shape_z = window_shape
+
+    sparse_shape_x, sparse_shape_y, sparse_shape_z = sparse_shape
+    assert sparse_shape_z < sparse_shape_x, 'Usually holds... in case of wrong order'
+
+    max_num_win_x = int(np.ceil((sparse_shape_x / win_shape_x)) + 1) # plus one here to meet the needs of shift.
+    max_num_win_y = int(np.ceil((sparse_shape_y / win_shape_y)) + 1) # plus one here to meet the needs of shift.
+    max_num_win_z = int(np.ceil((sparse_shape_z / win_shape_z)) + 1) # plus one here to meet the needs of shift.
+    max_num_win_per_sample = max_num_win_x * max_num_win_y * max_num_win_z
+
+    if do_shift:
+        if shift_list is not None:
+            shift_x, shift_y, shift_z = shift_list[0], shift_list[1], shift_list[2]
+        else:
+            shift_x, shift_y, shift_z = win_shape_x // 2, win_shape_y // 2, win_shape_z // 2
+    else:
+        if shift_list is not None:
+            shift_x, shift_y, shift_z = shift_list[0], shift_list[1], shift_list[2]
+        else:
+            shift_x, shift_y, shift_z = win_shape_x, win_shape_y, win_shape_z
+    
+    # compatibility between 2D window and 3D window
+    if sparse_shape_z == win_shape_z:
+        shift_z = 0
+
+    shifted_coors_x = coors[:, 3] + shift_x
+    shifted_coors_y = coors[:, 2] + shift_y
+    shifted_coors_z = coors[:, 1] + shift_z
+
+    win_coors_x = shifted_coors_x // win_shape_x
+    win_coors_y = shifted_coors_y // win_shape_y
+    win_coors_z = shifted_coors_z // win_shape_z
+
+    if len(window_shape) == 2:
+        assert (win_coors_z == 0).all()
+
+    batch_win_inds = coors[:, 0] * max_num_win_per_sample + \
+                        win_coors_x * max_num_win_y * max_num_win_z + \
+                        win_coors_y * max_num_win_z + \
+                        win_coors_z
+
+    coors_in_win_x = shifted_coors_x % win_shape_x
+    coors_in_win_y = shifted_coors_y % win_shape_y
+    coors_in_win_z = shifted_coors_z % win_shape_z
+    coors_in_win = torch.stack([coors_in_win_z, coors_in_win_y, coors_in_win_x], dim=-1)
+    # coors_in_win = torch.stack([coors_in_win_x, coors_in_win_y], dim=-1)
+    if return_win_coors:
+        batch_win_coords = torch.stack([win_coors_z, win_coors_y, win_coors_x], dim=-1)
+        return batch_win_inds, coors_in_win, batch_win_coords
+    
+    return batch_win_inds, coors_in_win
+
+
+def get_pooling_index(coors, sparse_shape, window_shape):
+    win_shape_x, win_shape_y, win_shape_z = window_shape
+    sparse_shape_x, sparse_shape_y, sparse_shape_z = sparse_shape
+    
+    max_num_win_x = int(np.ceil((sparse_shape_x / win_shape_x)))
+    max_num_win_y = int(np.ceil((sparse_shape_y / win_shape_y))) 
+    max_num_win_z = int(np.ceil((sparse_shape_z / win_shape_z))) 
+    max_num_win_per_sample = max_num_win_x * max_num_win_y * max_num_win_z
+
+    coors_x = coors[:, 3] 
+    coors_y = coors[:, 2]
+    coors_z = coors[:, 1]
+
+    win_coors_x = coors_x // win_shape_x
+    win_coors_y = coors_y // win_shape_y
+    win_coors_z = coors_z // win_shape_z
+
+    batch_win_inds = coors[:, 0] * max_num_win_per_sample + \
+                        win_coors_x * max_num_win_y * max_num_win_z + \
+                        win_coors_y * max_num_win_z + \
+                        win_coors_z
+
+    coors_in_win_x = coors_x % win_shape_x
+    coors_in_win_y = coors_y % win_shape_y
+    coors_in_win_z = coors_z % win_shape_z
+    coors_in_win = torch.stack([coors_in_win_z, coors_in_win_y, coors_in_win_x], dim=-1)
+
+    index_in_win = coors_in_win_x * win_shape_y * win_shape_z + \
+                    coors_in_win_y * win_shape_z + \
+                    coors_in_win_z
+
+    batch_win_coords = torch.stack([coors[:, 0], win_coors_z, win_coors_y, win_coors_x], dim=-1)
+    return batch_win_inds, coors_in_win, index_in_win, batch_win_coords
+
+
+def get_continous_inds(setnum_per_win):
+    '''
+    Args:
+        setnum_per_win (Tensor[int]): Number of sets assigned to each window with shape (win_num).
+    Returns:
+        set_win_inds (Tensor[int]): Window indexs of each set with shape (set_num).
+        set_inds_in_win (Tensor[int]): Set indexs inner window with shape (set_num).
+
+    Examples:
+        setnum_per_win = torch.tensor([1, 2, 1, 3])
+        set_inds_in_win = get_continous_inds(setnum_per_win)
+        # we can get: set_inds_in_win = tensor([0, 0, 1, 0, 0, 1, 2])
+    '''
+    set_num = setnum_per_win.sum().item() # set_num = 7
+    setnum_per_win_cumsum = torch.cumsum(setnum_per_win, dim=0)[:-1] # [1, 3, 4]
+    set_win_inds = torch.full((set_num,), 0, device=setnum_per_win.device)
+    set_win_inds[setnum_per_win_cumsum] = 1 # [0, 1, 0, 1, 1, 0, 0]
+    set_win_inds = torch.cumsum(set_win_inds, dim=0) # [0, 1, 1, 2, 3, 3, 3]
+    
+    roll_set_win_inds_left = torch.roll(set_win_inds, -1)  # [1, 1, 2, 3, 3, 3, 0]
+    diff = set_win_inds - roll_set_win_inds_left # [-1, 0, -1, -1, 0, 0, 3]
+    end_pos_mask = diff != 0
+    template = torch.ones_like(set_win_inds)
+    template[end_pos_mask] = (setnum_per_win - 1) * -1  # [ 0, 1, -1, 0, 1, 1, -2]
+    set_inds_in_win = torch.cumsum(template,dim=0) # [0, 1, 0, 0, 1, 2, 0]
+    set_inds_in_win[end_pos_mask] = setnum_per_win # [1, 1, 2, 1, 1, 2, 3]
+    set_inds_in_win = set_inds_in_win - 1 # [0, 0, 1, 0, 0, 1, 2]
+    
+    return set_win_inds, set_inds_in_win
\ No newline at end of file

pcdet/models/model_utils/model_nms_utils.py

@@ -64,3 +64,44 @@ def multi_classes_nms(cls_scores, box_preds, nms_config, score_thresh=None):
     pred_boxes = torch.cat(pred_boxes, dim=0)
 
     return pred_scores, pred_labels, pred_boxes
+
+
+def class_specific_nms(box_scores, box_preds, box_labels, nms_config, score_thresh=None):
+    """
+    Args:
+        cls_scores: (N,)
+        box_preds: (N, 7 + C)
+        box_labels: (N,)
+        nms_config:
+
+    Returns:
+
+    """
+    selected = []
+    for k in range(len(nms_config.NMS_THRESH)):
+        curr_mask = box_labels == k
+        if score_thresh is not None and isinstance(score_thresh, float):
+            curr_mask *= (box_scores > score_thresh)
+        elif score_thresh is not None and isinstance(score_thresh, list):
+            curr_mask *= (box_scores > score_thresh[k])
+        curr_idx = torch.nonzero(curr_mask)[:, 0]
+        curr_box_scores = box_scores[curr_mask]
+        cur_box_preds = box_preds[curr_mask]
+
+        if curr_box_scores.shape[0] > 0:
+            curr_box_scores_nms = curr_box_scores
+            curr_boxes_for_nms = cur_box_preds
+
+            keep_idx, _ = getattr(iou3d_nms_utils, 'nms_gpu')(
+                curr_boxes_for_nms, curr_box_scores_nms,
+                thresh=nms_config.NMS_THRESH[k],
+                pre_maxsize=nms_config.NMS_PRE_MAXSIZE[k],
+                post_max_size=nms_config.NMS_POST_MAXSIZE[k]
+            )
+            curr_selected = curr_idx[keep_idx]
+            selected.append(curr_selected)
+    if len(selected) != 0:
+        selected = torch.cat(selected)
+        
+
+    return selected, box_scores[selected]

pcdet/ops/ingroup_inds/ingroup_inds_op.py

+import torch
+
+try:
+    from . import ingroup_inds_cuda
+    # import ingroup_indices
+except ImportError:
+    ingroup_indices = None
+    print('Can not import ingroup indices')
+
+ingroup_indices = ingroup_inds_cuda
+
+from torch.autograd import Function
+class IngroupIndicesFunction(Function):
+
+    @staticmethod
+    def forward(ctx, group_inds):
+
+        out_inds = torch.zeros_like(group_inds) - 1
+
+        ingroup_indices.forward(group_inds, out_inds)
+
+        ctx.mark_non_differentiable(out_inds)
+
+        return out_inds
+
+    @staticmethod
+    def backward(ctx, g):
+
+        return None
+
+ingroup_inds = IngroupIndicesFunction.apply
\ No newline at end of file

pcdet/ops/ingroup_inds/src/error.cuh

+#pragma once
+#include <stdio.h>
+
+#define CHECK_CALL(call)                                   \
+do                                                    \
+{                                                     \
+    const cudaError_t error_code = call;              \
+    if (error_code != cudaSuccess)                    \
+    {                                                 \
+        printf("CUDA Error:\n");                      \
+        printf("    File:       %s\n", __FILE__);     \
+        printf("    Line:       %d\n", __LINE__);     \
+        printf("    Error code: %d\n", error_code);   \
+        printf("    Error text: %s\n",                \
+            cudaGetErrorString(error_code));          \
+        exit(1);                                      \
+    }                                                 \
+} while (0)
\ No newline at end of file

pcdet/ops/ingroup_inds/src/ingroup_inds.cpp

+#include <assert.h>
+#include <torch/extension.h>
+#include <torch/serialize/tensor.h>
+#include <vector>
+
+#define CHECK_CUDA(x) \
+  TORCH_CHECK(x.device().is_cuda(), #x, " must be a CUDAtensor ")
+#define CHECK_CONTIGUOUS(x) \
+  TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ")
+#define CHECK_INPUT(x) \
+  CHECK_CUDA(x);       \
+  CHECK_CONTIGUOUS(x)
+
+
+void ingroup_inds_launcher(
+    const long *group_inds_data,
+    long *out_inds_data,
+    int N,
+    int max_group_id
+);
+
+
+void ingroup_inds_gpu(
+  at::Tensor group_inds,
+  at::Tensor out_inds
+);
+
+void ingroup_inds_gpu(
+  at::Tensor group_inds,
+  at::Tensor out_inds
+) {
+
+  CHECK_INPUT(group_inds);
+  CHECK_INPUT(out_inds);
+  int N = group_inds.size(0);
+  int max_group_id = group_inds.max().item().toLong();
+
+
+  long *group_inds_data = group_inds.data_ptr<long>();
+  long *out_inds_data = out_inds.data_ptr<long>();
+
+  ingroup_inds_launcher(
+      group_inds_data,
+      out_inds_data,
+      N,
+      max_group_id
+  );
+
+}
+
+
+PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
+  m.def("forward", &ingroup_inds_gpu, "cuda version of get_inner_win_inds of SST");
+}
\ No newline at end of file

pcdet/ops/ingroup_inds/src/ingroup_inds_kernel.cu

+#include <assert.h>
+#include <vector>
+#include <math.h>
+#include <stdio.h>
+#include <torch/serialize/tensor.h>
+#include <torch/types.h>
+#include "cuda_fp16.h"
+
+#define CHECK_CALL(call)                                   \
+do                                                    \
+{                                                     \
+    const cudaError_t error_code = call;              \
+    if (error_code != cudaSuccess)                    \
+    {                                                 \
+        printf("CUDA Error:\n");                      \
+        printf("    File:       %s\n", __FILE__);     \
+        printf("    Line:       %d\n", __LINE__);     \
+        printf("    Error code: %d\n", error_code);   \
+        printf("    Error text: %s\n",                \
+            cudaGetErrorString(error_code));          \
+        exit(1);                                      \
+    }                                                 \
+} while (0)
+
+#define THREADS_PER_BLOCK 256
+#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))
+
+// #define DEBUG
+// #define ASSERTION
+
+__global__ void ingroup_inds_kernel(
+    const long *group_inds,
+    long *out_inds,
+    int *ingroup_counter,
+    int N
+) {
+
+  int idx = blockIdx.x * blockDim.x + threadIdx.x;
+  if (idx >= N) return;
+  long this_group_id = group_inds[idx];
+
+  int cnt = atomicAdd(&ingroup_counter[this_group_id], 1);
+  out_inds[idx] = cnt;
+}
+
+
+ void ingroup_inds_launcher(
+  const long *group_inds,
+  long *out_inds,
+  int N,
+  int max_group_id
+  ) {
+
+  int *ingroup_counter = NULL;
+  CHECK_CALL(cudaMalloc(&ingroup_counter,   (max_group_id + 1) * sizeof(int)));
+  CHECK_CALL(cudaMemset(ingroup_counter, 0, (max_group_id + 1) * sizeof(int)));
+
+  dim3 blocks(DIVUP(N, THREADS_PER_BLOCK));
+  dim3 threads(THREADS_PER_BLOCK);
+
+  ingroup_inds_kernel<<<blocks, threads>>>(
+      group_inds,
+      out_inds,
+      ingroup_counter,
+      N
+  );
+
+  cudaFree(ingroup_counter);
+
+  #ifdef DEBUG
+  CHECK_CALL(cudaGetLastError());
+  CHECK_CALL(cudaDeviceSynchronize());
+  #endif
+
+  return;
+
+}
\ No newline at end of file

pcdet/ops/iou3d_nms/iou3d_nms_utils.py

@@ -150,3 +150,40 @@ def nms_normal_gpu(boxes, scores, thresh, **kwargs):
     keep = torch.LongTensor(boxes.size(0))
     num_out = iou3d_nms_cuda.nms_normal_gpu(boxes, keep, thresh)
     return order[keep[:num_out].cuda()].contiguous(), None
+
+
+def paired_boxes_iou3d_gpu(boxes_a, boxes_b):
+    """
+    Args:
+        boxes_a: (N, 7) [x, y, z, dx, dy, dz, heading]
+        boxes_b: (N, 7) [x, y, z, dx, dy, dz, heading]
+
+    Returns:
+        ans_iou: (N)
+    """
+    assert boxes_a.shape[0] == boxes_b.shape[0]
+    assert boxes_a.shape[1] == boxes_b.shape[1] == 7
+
+    # height overlap
+    boxes_a_height_max = (boxes_a[:, 2] + boxes_a[:, 5] / 2).view(-1, 1)
+    boxes_a_height_min = (boxes_a[:, 2] - boxes_a[:, 5] / 2).view(-1, 1)
+    boxes_b_height_max = (boxes_b[:, 2] + boxes_b[:, 5] / 2).view(-1, 1)
+    boxes_b_height_min = (boxes_b[:, 2] - boxes_b[:, 5] / 2).view(-1, 1)
+
+    # bev overlap
+    overlaps_bev = torch.cuda.FloatTensor(torch.Size((boxes_a.shape[0], 1))).zero_()  # (N, ``)
+    iou3d_nms_cuda.paired_boxes_overlap_bev_gpu(boxes_a.contiguous(), boxes_b.contiguous(), overlaps_bev)
+
+    max_of_min = torch.max(boxes_a_height_min, boxes_b_height_min)
+    min_of_max = torch.min(boxes_a_height_max, boxes_b_height_max)
+    overlaps_h = torch.clamp(min_of_max - max_of_min, min=0)
+
+    # 3d iou
+    overlaps_3d = overlaps_bev * overlaps_h
+
+    vol_a = (boxes_a[:, 3] * boxes_a[:, 4] * boxes_a[:, 5]).view(-1, 1)
+    vol_b = (boxes_b[:, 3] * boxes_b[:, 4] * boxes_b[:, 5]).view(-1, 1)
+
+    iou3d = overlaps_3d / torch.clamp(vol_a + vol_b - overlaps_3d, min=1e-6)
+
+    return iou3d.view(-1)
\ No newline at end of file

pcdet/ops/iou3d_nms/src/iou3d_nms.cpp

@@ -41,6 +41,7 @@ const int THREADS_PER_BLOCK_NMS = sizeof(unsigned long long) * 8;
 
 void boxesalignedoverlapLauncher(const int num_box, const float *boxes_a, const float *boxes_b, float *ans_overlap);
 void boxesoverlapLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_overlap);
+void PairedBoxesOverlapLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_overlap);
 void boxesioubevLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_iou);
 void nmsLauncher(const float *boxes, unsigned long long * mask, int boxes_num, float nms_overlap_thresh);
 void nmsNormalLauncher(const float *boxes, unsigned long long * mask, int boxes_num, float nms_overlap_thresh);
@@ -90,6 +91,29 @@ int boxes_overlap_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans
     return 1;
 }
 
+int paired_boxes_overlap_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_overlap){
+    // params boxes_a: (N, 7) [x, y, z, dx, dy, dz, heading]
+    // params boxes_b: (N, 7) [x, y, z, dx, dy, dz, heading]
+    // params ans_overlap: (N, 1)
+
+    CHECK_INPUT(boxes_a);
+    CHECK_INPUT(boxes_b);
+    CHECK_INPUT(ans_overlap);
+
+    int num_a = boxes_a.size(0);
+    int num_b = boxes_b.size(0);
+
+    assert(num_a == num_b);
+
+    const float * boxes_a_data = boxes_a.data<float>();
+    const float * boxes_b_data = boxes_b.data<float>();
+    float * ans_overlap_data = ans_overlap.data<float>();
+
+    PairedBoxesOverlapLauncher(num_a, boxes_a_data, num_b, boxes_b_data, ans_overlap_data);
+
+    return 1;
+}
+
 int boxes_iou_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_iou){
     // params boxes_a: (N, 7) [x, y, z, dx, dy, dz, heading]
     // params boxes_b: (M, 7) [x, y, z, dx, dy, dz, heading]