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voxel_set_abstraction.py
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voxel_set_abstraction.py
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import math
import numpy as np
import torch
import torch.nn as nn
from ....ops.pointnet2.pointnet2_stack import pointnet2_modules as pointnet2_stack_modules
from ....ops.pointnet2.pointnet2_stack import pointnet2_utils as pointnet2_stack_utils
from ....utils import common_utils
from ....utils import uni3d_norm
def bilinear_interpolate_torch(im, x, y):
"""
Args:
im: (H, W, C) [y, x]
x: (N)
y: (N)
Returns:
"""
x0 = torch.floor(x).long()
x1 = x0 + 1
y0 = torch.floor(y).long()
y1 = y0 + 1
x0 = torch.clamp(x0, 0, im.shape[1] - 1)
x1 = torch.clamp(x1, 0, im.shape[1] - 1)
y0 = torch.clamp(y0, 0, im.shape[0] - 1)
y1 = torch.clamp(y1, 0, im.shape[0] - 1)
Ia = im[y0, x0]
Ib = im[y1, x0]
Ic = im[y0, x1]
Id = im[y1, x1]
wa = (x1.type_as(x) - x) * (y1.type_as(y) - y)
wb = (x1.type_as(x) - x) * (y - y0.type_as(y))
wc = (x - x0.type_as(x)) * (y1.type_as(y) - y)
wd = (x - x0.type_as(x)) * (y - y0.type_as(y))
ans = torch.t((torch.t(Ia) * wa)) + torch.t(torch.t(Ib) * wb) + torch.t(torch.t(Ic) * wc) + torch.t(torch.t(Id) * wd)
return ans
def sample_points_with_roi(rois, points, sample_radius_with_roi, num_max_points_of_part=200000):
"""
Args:
rois: (M, 7 + C)
points: (N, 3)
sample_radius_with_roi:
num_max_points_of_part:
Returns:
sampled_points: (N_out, 3)
"""
if points.shape[0] < num_max_points_of_part:
distance = (points[:, None, :] - rois[None, :, 0:3]).norm(dim=-1)
min_dis, min_dis_roi_idx = distance.min(dim=-1)
roi_max_dim = (rois[min_dis_roi_idx, 3:6] / 2).norm(dim=-1)
point_mask = min_dis < roi_max_dim + sample_radius_with_roi
else:
start_idx = 0
point_mask_list = []
while start_idx < points.shape[0]:
distance = (points[start_idx:start_idx + num_max_points_of_part, None, :] - rois[None, :, 0:3]).norm(dim=-1)
min_dis, min_dis_roi_idx = distance.min(dim=-1)
roi_max_dim = (rois[min_dis_roi_idx, 3:6] / 2).norm(dim=-1)
cur_point_mask = min_dis < roi_max_dim + sample_radius_with_roi
point_mask_list.append(cur_point_mask)
start_idx += num_max_points_of_part
point_mask = torch.cat(point_mask_list, dim=0)
sampled_points = points[:1] if point_mask.sum() == 0 else points[point_mask, :]
return sampled_points, point_mask
def sector_fps(points, num_sampled_points, num_sectors):
"""
Args:
points: (N, 3)
num_sampled_points: int
num_sectors: int
Returns:
sampled_points: (N_out, 3)
"""
sector_size = np.pi * 2 / num_sectors
point_angles = torch.atan2(points[:, 1], points[:, 0]) + np.pi
sector_idx = (point_angles / sector_size).floor().clamp(min=0, max=num_sectors)
xyz_points_list = []
xyz_batch_cnt = []
num_sampled_points_list = []
for k in range(num_sectors):
mask = (sector_idx == k)
cur_num_points = mask.sum().item()
if cur_num_points > 0:
xyz_points_list.append(points[mask])
xyz_batch_cnt.append(cur_num_points)
ratio = cur_num_points / points.shape[0]
num_sampled_points_list.append(
min(cur_num_points, math.ceil(ratio * num_sampled_points))
)
if len(xyz_batch_cnt) == 0:
xyz_points_list.append(points)
xyz_batch_cnt.append(len(points))
num_sampled_points_list.append(num_sampled_points)
print(f'Warning: empty sector points detected in SectorFPS: points.shape={points.shape}')
xyz = torch.cat(xyz_points_list, dim=0)
xyz_batch_cnt = torch.tensor(xyz_batch_cnt, device=points.device).int()
sampled_points_batch_cnt = torch.tensor(num_sampled_points_list, device=points.device).int()
sampled_pt_idxs = pointnet2_stack_utils.stack_farthest_point_sample(
xyz.contiguous(), xyz_batch_cnt, sampled_points_batch_cnt
).long()
sampled_points = xyz[sampled_pt_idxs]
return sampled_points
class VoxelSetAbstraction(nn.Module):
def __init__(self, model_cfg, voxel_size, point_cloud_range, num_bev_features=None,
num_rawpoint_features=None, **kwargs):
super().__init__()
self.model_cfg = model_cfg
self.voxel_size = voxel_size
self.point_cloud_range = point_cloud_range
SA_cfg = self.model_cfg.SA_LAYER
self.SA_layers = nn.ModuleList()
self.SA_layer_names = []
self.downsample_times_map = {}
c_in = 0
for src_name in self.model_cfg.FEATURES_SOURCE:
if src_name in ['bev', 'raw_points']:
continue
self.downsample_times_map[src_name] = SA_cfg[src_name].DOWNSAMPLE_FACTOR
if SA_cfg[src_name].get('INPUT_CHANNELS', None) is None:
input_channels = SA_cfg[src_name].MLPS[0][0] \
if isinstance(SA_cfg[src_name].MLPS[0], list) else SA_cfg[src_name].MLPS[0]
else:
input_channels = SA_cfg[src_name]['INPUT_CHANNELS']
cur_layer, cur_num_c_out = pointnet2_stack_modules.build_local_aggregation_module(
input_channels=input_channels, config=SA_cfg[src_name]
)
self.SA_layers.append(cur_layer)
self.SA_layer_names.append(src_name)
c_in += cur_num_c_out
if 'bev' in self.model_cfg.FEATURES_SOURCE:
c_bev = num_bev_features
c_in += c_bev
if 'raw_points' in self.model_cfg.FEATURES_SOURCE:
self.SA_rawpoints, cur_num_c_out = pointnet2_stack_modules.build_local_aggregation_module(
input_channels=num_rawpoint_features - 3, config=SA_cfg['raw_points']
)
c_in += cur_num_c_out
if self.model_cfg.get('DUAL_NORM', None):
self.vsa_point_feature_fusion = nn.Sequential(
nn.Linear(c_in, self.model_cfg.NUM_OUTPUT_FEATURES, bias=False),
uni3d_norm.UniNorm1d(self.model_cfg.NUM_OUTPUT_FEATURES, dataset_from_flag=int(self.model_cfg.db_source)),
nn.ReLU(),
)
else:
self.vsa_point_feature_fusion = nn.Sequential(
nn.Linear(c_in, self.model_cfg.NUM_OUTPUT_FEATURES, bias=False),
nn.BatchNorm1d(self.model_cfg.NUM_OUTPUT_FEATURES),
nn.ReLU(),
)
self.num_point_features = self.model_cfg.NUM_OUTPUT_FEATURES
self.num_point_features_before_fusion = c_in
def interpolate_from_bev_features(self, keypoints, bev_features, batch_size, bev_stride):
"""
Args:
keypoints: (N1 + N2 + ..., 4)
bev_features: (B, C, H, W)
batch_size:
bev_stride:
Returns:
point_bev_features: (N1 + N2 + ..., C)
"""
x_idxs = (keypoints[:, 1] - self.point_cloud_range[0]) / self.voxel_size[0]
y_idxs = (keypoints[:, 2] - self.point_cloud_range[1]) / self.voxel_size[1]
x_idxs = x_idxs / bev_stride
y_idxs = y_idxs / bev_stride
point_bev_features_list = []
for k in range(batch_size):
bs_mask = (keypoints[:, 0] == k)
cur_x_idxs = x_idxs[bs_mask]
cur_y_idxs = y_idxs[bs_mask]
cur_bev_features = bev_features[k].permute(1, 2, 0) # (H, W, C)
point_bev_features = bilinear_interpolate_torch(cur_bev_features, cur_x_idxs, cur_y_idxs)
point_bev_features_list.append(point_bev_features)
point_bev_features = torch.cat(point_bev_features_list, dim=0) # (N1 + N2 + ..., C)
return point_bev_features
def sectorized_proposal_centric_sampling(self, roi_boxes, points):
"""
Args:
roi_boxes: (M, 7 + C)
points: (N, 3)
Returns:
sampled_points: (N_out, 3)
"""
sampled_points, _ = sample_points_with_roi(
rois=roi_boxes, points=points,
sample_radius_with_roi=self.model_cfg.SPC_SAMPLING.SAMPLE_RADIUS_WITH_ROI,
num_max_points_of_part=self.model_cfg.SPC_SAMPLING.get('NUM_POINTS_OF_EACH_SAMPLE_PART', 200000)
)
sampled_points = sector_fps(
points=sampled_points, num_sampled_points=self.model_cfg.NUM_KEYPOINTS,
num_sectors=self.model_cfg.SPC_SAMPLING.NUM_SECTORS
)
return sampled_points
def get_sampled_points(self, batch_dict):
"""
Args:
batch_dict:
Returns:
keypoints: (N1 + N2 + ..., 4), where 4 indicates [bs_idx, x, y, z]
"""
batch_size = batch_dict['batch_size']
if self.model_cfg.POINT_SOURCE == 'raw_points':
src_points = batch_dict['points'][:, 1:4]
batch_indices = batch_dict['points'][:, 0].long()
elif self.model_cfg.POINT_SOURCE == 'voxel_centers':
src_points = common_utils.get_voxel_centers(
batch_dict['voxel_coords'][:, 1:4],
downsample_times=1,
voxel_size=self.voxel_size,
point_cloud_range=self.point_cloud_range
)
batch_indices = batch_dict['voxel_coords'][:, 0].long()
else:
raise NotImplementedError
keypoints_list = []
for bs_idx in range(batch_size):
bs_mask = (batch_indices == bs_idx)
sampled_points = src_points[bs_mask].unsqueeze(dim=0) # (1, N, 3)
if self.model_cfg.SAMPLE_METHOD == 'FPS':
cur_pt_idxs = pointnet2_stack_utils.farthest_point_sample(
sampled_points[:, :, 0:3].contiguous(), self.model_cfg.NUM_KEYPOINTS
).long()
if sampled_points.shape[1] < self.model_cfg.NUM_KEYPOINTS:
times = int(self.model_cfg.NUM_KEYPOINTS / sampled_points.shape[1]) + 1
non_empty = cur_pt_idxs[0, :sampled_points.shape[1]]
cur_pt_idxs[0] = non_empty.repeat(times)[:self.model_cfg.NUM_KEYPOINTS]
keypoints = sampled_points[0][cur_pt_idxs[0]].unsqueeze(dim=0)
elif self.model_cfg.SAMPLE_METHOD == 'SPC':
cur_keypoints = self.sectorized_proposal_centric_sampling(
roi_boxes=batch_dict['rois'][bs_idx], points=sampled_points[0]
)
bs_idxs = cur_keypoints.new_ones(cur_keypoints.shape[0]) * bs_idx
keypoints = torch.cat((bs_idxs[:, None], cur_keypoints), dim=1)
else:
raise NotImplementedError
keypoints_list.append(keypoints)
keypoints = torch.cat(keypoints_list, dim=0) # (B, M, 3) or (N1 + N2 + ..., 4)
if len(keypoints.shape) == 3:
batch_idx = torch.arange(batch_size, device=keypoints.device).view(-1, 1).repeat(1, keypoints.shape[1]).view(-1, 1)
keypoints = torch.cat((batch_idx.float(), keypoints.view(-1, 3)), dim=1)
return keypoints
@staticmethod
def aggregate_keypoint_features_from_one_source(
batch_size, aggregate_func, xyz, xyz_features, xyz_bs_idxs, new_xyz, new_xyz_batch_cnt,
filter_neighbors_with_roi=False, radius_of_neighbor=None, num_max_points_of_part=200000, rois=None, cover_feat_4=False
):
"""
Args:
aggregate_func:
xyz: (N, 3)
xyz_features: (N, C)
xyz_bs_idxs: (N)
new_xyz: (M, 3)
new_xyz_batch_cnt: (batch_size), [N1, N2, ...]
filter_neighbors_with_roi: True/False
radius_of_neighbor: float
num_max_points_of_part: int
rois: (batch_size, num_rois, 7 + C)
cover_feat_4: if cover the xyz_features using the values in z-dimension
Returns:
"""
xyz_batch_cnt = xyz.new_zeros(batch_size).int()
if filter_neighbors_with_roi:
point_features = torch.cat((xyz, xyz_features), dim=-1) if xyz_features is not None else xyz
point_features_list = []
for bs_idx in range(batch_size):
bs_mask = (xyz_bs_idxs == bs_idx)
_, valid_mask = sample_points_with_roi(
rois=rois[bs_idx], points=xyz[bs_mask],
sample_radius_with_roi=radius_of_neighbor, num_max_points_of_part=num_max_points_of_part,
)
point_features_list.append(point_features[bs_mask][valid_mask])
xyz_batch_cnt[bs_idx] = valid_mask.sum()
valid_point_features = torch.cat(point_features_list, dim=0)
xyz = valid_point_features[:, 0:3]
xyz_features = valid_point_features[:, 3:] if xyz_features is not None else None
else:
for bs_idx in range(batch_size):
xyz_batch_cnt[bs_idx] = (xyz_bs_idxs == bs_idx).sum()
# for using the z-axes as the fourth dimension feature of point-cloud representations
if xyz_features is None:
if cover_feat_4:
xyz_features=xyz[:, 2].view(-1, 1)
pooled_points, pooled_features = aggregate_func(
xyz=xyz.contiguous(),
xyz_batch_cnt=xyz_batch_cnt,
new_xyz=new_xyz,
new_xyz_batch_cnt=new_xyz_batch_cnt,
features=xyz_features.contiguous(),
)
else:
pooled_points, pooled_features = aggregate_func(
xyz=xyz.contiguous(),
xyz_batch_cnt=xyz_batch_cnt,
new_xyz=new_xyz,
new_xyz_batch_cnt=new_xyz_batch_cnt,
features=xyz_features,
)
else:
pooled_points, pooled_features = aggregate_func(
xyz=xyz.contiguous(),
xyz_batch_cnt=xyz_batch_cnt,
new_xyz=new_xyz,
new_xyz_batch_cnt=new_xyz_batch_cnt,
features=xyz_features.contiguous(),
)
return pooled_features
def forward(self, batch_dict):
"""
Args:
batch_dict:
batch_size:
keypoints: (B, num_keypoints, 3)
multi_scale_3d_features: {
'x_conv4': ...
}
points: optional (N, 1 + 3 + C) [bs_idx, x, y, z, ...]
spatial_features: optional
spatial_features_stride: optional
Returns:
point_features: (N, C)
point_coords: (N, 4)
"""
keypoints = self.get_sampled_points(batch_dict)
point_features_list = []
if 'bev' in self.model_cfg.FEATURES_SOURCE:
point_bev_features = self.interpolate_from_bev_features(
keypoints, batch_dict['spatial_features'], batch_dict['batch_size'],
bev_stride=batch_dict['spatial_features_stride']
)
point_features_list.append(point_bev_features)
batch_size = batch_dict['batch_size']
new_xyz = keypoints[:, 1:4].contiguous()
new_xyz_batch_cnt = new_xyz.new_zeros(batch_size).int()
for k in range(batch_size):
new_xyz_batch_cnt[k] = (keypoints[:, 0] == k).sum()
if 'raw_points' in self.model_cfg.FEATURES_SOURCE:
raw_points = batch_dict['points']
pooled_features = self.aggregate_keypoint_features_from_one_source(
batch_size=batch_size, aggregate_func=self.SA_rawpoints,
xyz=raw_points[:, 1:4],
xyz_features=raw_points[:, 4:].contiguous() if raw_points.shape[1] > 4 else None,
xyz_bs_idxs=raw_points[:, 0],
new_xyz=new_xyz, new_xyz_batch_cnt=new_xyz_batch_cnt,
filter_neighbors_with_roi=self.model_cfg.SA_LAYER['raw_points'].get('FILTER_NEIGHBOR_WITH_ROI', False),
radius_of_neighbor=self.model_cfg.SA_LAYER['raw_points'].get('RADIUS_OF_NEIGHBOR_WITH_ROI', None),
rois=batch_dict.get('rois', None),
cover_feat_4=self.model_cfg.COVER_FEAT if self.model_cfg.get('COVER_FEAT', None) else None
)
point_features_list.append(pooled_features)
for k, src_name in enumerate(self.SA_layer_names):
cur_coords = batch_dict['multi_scale_3d_features'][src_name].indices
cur_features = batch_dict['multi_scale_3d_features'][src_name].features.contiguous()
xyz = common_utils.get_voxel_centers(
cur_coords[:, 1:4], downsample_times=self.downsample_times_map[src_name],
voxel_size=self.voxel_size, point_cloud_range=self.point_cloud_range
)
pooled_features = self.aggregate_keypoint_features_from_one_source(
batch_size=batch_size, aggregate_func=self.SA_layers[k],
xyz=xyz.contiguous(), xyz_features=cur_features, xyz_bs_idxs=cur_coords[:, 0],
new_xyz=new_xyz, new_xyz_batch_cnt=new_xyz_batch_cnt,
filter_neighbors_with_roi=self.model_cfg.SA_LAYER[src_name].get('FILTER_NEIGHBOR_WITH_ROI', False),
radius_of_neighbor=self.model_cfg.SA_LAYER[src_name].get('RADIUS_OF_NEIGHBOR_WITH_ROI', None),
rois=batch_dict.get('rois', None),
cover_feat_4=self.model_cfg.COVER_FEAT if self.model_cfg.get('COVER_FEAT', None) else None
)
point_features_list.append(pooled_features)
point_features = torch.cat(point_features_list, dim=-1)
batch_dict['point_features_before_fusion'] = point_features.view(-1, point_features.shape[-1])
point_features = self.vsa_point_feature_fusion(point_features.view(-1, point_features.shape[-1]))
batch_dict['point_features'] = point_features # (BxN, C)
batch_dict['point_coords'] = keypoints # (BxN, 4)
return batch_dict