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[Fix] Fix bg point filter #609

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merged 5 commits into from
Jun 6, 2021
Merged

[Fix] Fix bg point filter #609

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57ea75e
fix bg_points_filter
xiliu8006 Jun 1, 2021
8ebda20
fix 3dssd bg_point_filter bug
xiliu8006 Jun 1, 2021
a586e5a
fix bg_filter bug in 3dssd
xiliu8006 Jun 2, 2021
e73bd95
update performance
xiliu8006 Jun 4, 2021
771d9e8
add model download link
xiliu8006 Jun 6, 2021
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4 changes: 2 additions & 2 deletions configs/3dssd/3dssd_kitti-3d-car.py → configs/3dssd/3dssd_4x4_kitti-3d-car.py
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Expand Up @@ -106,9 +106,9 @@
lr = 0.002 # max learning rate
optimizer = dict(type='AdamW', lr=lr, weight_decay=0)
optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2))
lr_config = dict(policy='step', warmup=None, step=[80, 120])
lr_config = dict(policy='step', warmup=None, step=[45, 60])
# runtime settings
runner = dict(type='EpochBasedRunner', max_epochs=150)
runner = dict(type='EpochBasedRunner', max_epochs=80)

# yapf:disable
log_config = dict(
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4 changes: 2 additions & 2 deletions configs/3dssd/README.md
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Expand Up @@ -29,6 +29,6 @@ Some settings in our implementation are different from the [official implementat

| Backbone |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP |Download |
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
| [PointNet2SAMSG](./3dssd_kitti-3d-car.py)| Car |72e|4.7||78.39(81.00)<sup>1</sup>|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002-07e9a19b.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002.log.json)|
| [PointNet2SAMSG](./3dssd_kitti-3d-car.py)| Car |72e|4.7||78.69(81.27)<sup>1</sup>|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438-b4276f56.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438.log.json)|

[1]: We report two different 3D object detection performance here. 78.39mAP is evaluated by our evaluation code and 81.00mAP is evaluated by the official development kit （so as that used in the paper and official code of 3DSSD ）. We found that the commonly used Python implementation of [`rotate_iou`](https://github.com/traveller59/second.pytorch/blob/e42e4a0e17262ab7d180ee96a0a36427f2c20a44/second/core/non_max_suppression/nms_gpu.py#L605) which is used in our KITTI dataset evaluation, is different from the official implemention in [KITTI benchmark](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d).
[1]: We report two different 3D object detection performance here. 78.69mAP is evaluated by our evaluation code and 81.27mAP is evaluated by the official development kit （so as that used in the paper and official code of 3DSSD ）. We found that the commonly used Python implementation of [`rotate_iou`](https://github.com/traveller59/second.pytorch/blob/e42e4a0e17262ab7d180ee96a0a36427f2c20a44/second/core/non_max_suppression/nms_gpu.py#L605) which is used in our KITTI dataset evaluation, is different from the official implemention in [KITTI benchmark](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d).
4 changes: 2 additions & 2 deletions configs/3dssd/metafile.yml
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Expand Up @@ -20,5 +20,5 @@ Models:
- Task: 3D Object Detection
Dataset: KITTI
Metrics:
mAP: 78.39
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002-07e9a19b.pth
mAP: 78.69
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438-b4276f56.pth
8 changes: 5 additions & 3 deletions mmdet3d/datasets/pipelines/transforms_3d.py
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Expand Up @@ -1127,11 +1127,13 @@ def __call__(self, input_dict):
points = input_dict['points']
gt_bboxes_3d = input_dict['gt_bboxes_3d']

gt_bboxes_3d_np = gt_bboxes_3d.tensor.numpy()
gt_bboxes_3d_np[:, :3] = gt_bboxes_3d.gravity_center.numpy()
# avoid groundtruth being modified
gt_bboxes_3d_np = gt_bboxes_3d.tensor.clone().numpy()
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gt_bboxes_3d_np[:, :3] = gt_bboxes_3d.gravity_center.clone().numpy()

enlarged_gt_bboxes_3d = gt_bboxes_3d_np.copy()
enlarged_gt_bboxes_3d[:, 3:6] += self.bbox_enlarge_range
points_numpy = points.tensor.numpy()
points_numpy = points.tensor.clone().numpy()
foreground_masks = box_np_ops.points_in_rbbox(points_numpy,
gt_bboxes_3d_np)
enlarge_foreground_masks = box_np_ops.points_in_rbbox(
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2 changes: 1 addition & 1 deletion mmdet3d/models/dense_heads/ssd_3d_head.py
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Expand Up @@ -491,7 +491,7 @@ def multiclass_nms_single(self, obj_scores, sem_scores, bbox, points,
bbox.clone(),
box_dim=bbox.shape[-1],
with_yaw=self.bbox_coder.with_rot,
origin=(0.5, 0.5, 1.0))
origin=(0.5, 0.5, 0.5))

if isinstance(bbox, LiDARInstance3DBoxes):
box_idx = bbox.points_in_boxes(points)
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