add M3D-RPN model (#4822)

* Add M3d-RPN model.
Co-authored-by: yexiaoqing <yexiaoqing@baidu.com>

PaddleCV/3d_vision/M3D-RPN/README.md

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+# M3D-RPN: Monocular 3D Region Proposal Network for Object Detection
+
+
+
+## Introduction
+
+
+Monocular 3D region proposal network for object detection accepted to ICCV 2019 (Oral), detailed in [arXiv report](https://arxiv.org/abs/1907.06038).
+
+
+
+
+## Setup
+
+- **Cuda & Python**
+
+    In this project we utilize PaddlePaddle1.8 with Python 3, Cuda 9, and a few Anaconda packages.
+
+- **Data**
+
+    Download the full [KITTI](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d) detection dataset. Then place a softlink (or the actual data) in  *M3D-RPN/data/kitti*.
+
+    ```
+    cd M3D-RPN
+    ln -s /path/to/kitti dataset/kitti
+    ```
+
+    Then use the following scripts to extract the data splits, which use softlinks to the above directory for efficient storage.
+
+    ```
+    python dataset/kitti_split1/setup_split.py
+    python dataset/kitti_split2/setup_split.py
+    ```
+
+    Next, build the KITTI devkit eval for each split.
+
+    ```
+    sh dataset/kitti_split1/devkit/cpp/build.sh
+    sh dataset/kitti_split2/devkit/cpp/build.sh
+    ```
+
+    Lastly, build the nms modules
+
+    ```
+    cd lib/nms
+    make
+    ```
+
+## Training
+
+
+Training is split into a warmup and main configurations. Review the configurations in *config* for details.
+
+```
+// First train the warmup (without depth-aware)
+python train.py --config=kitti_3d_multi_warmup
+
+// Then train the main experiment (with depth-aware)
+python train.py --config=kitti_3d_multi_main
+```
+
+
+
+## Testing
+
+We provide models for the main experiments on val1 data splits available to download here [M3D-RPN-release.tar](https://pan.baidu.com/s/1VQa5hGzIbauLOQi-0kR9Hg), passward:ls39.
+
+Testing requires paths to the configuration file and model weights, exposed variables near the top *test.py*. To test a configuration and model, simply update the variables and run the test file as below.
+
+```
+python test.py --conf_path M3D-RPN-release/conf.pkl --weights_path M3D-RPN-release/iter50000.0_params.pdparams
+```

PaddleCV/3d_vision/M3D-RPN/config/kitti_3d_multi_main.py

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+"""
+config of main
+"""
+from easydict import EasyDict as edict
+import numpy as np
+
+
+def Config():
+    """
+    config
+    """
+    conf = edict()
+
+    # ----------------------------------------
+    #  general
+    # ----------------------------------------
+
+    conf.model = 'model_3d_dilate_depth_aware'
+
+    # solver settings
+    conf.solver_type = 'sgd'
+    conf.lr = 0.004
+    conf.momentum = 0.9
+    conf.weight_decay = 0.0005
+    conf.max_iter = 50000
+    conf.snapshot_iter = 10000
+    conf.display = 20
+    conf.do_test = True
+
+    # sgd parameters
+    conf.lr_policy = 'poly'
+    conf.lr_steps = None
+    conf.lr_target = conf.lr * 0.00001
+
+    # random
+    conf.rng_seed = 2
+    conf.cuda_seed = 2
+
+    # misc network
+    conf.image_means = [0.485, 0.456, 0.406]
+    conf.image_stds = [0.229, 0.224, 0.225]
+    conf.feat_stride = 16
+
+    conf.has_3d = True
+
+    # ----------------------------------------
+    #  image sampling and datasets
+    # ----------------------------------------
+
+    # scale sampling  
+    conf.test_scale = 512
+    conf.crop_size = [512, 1760]
+    conf.mirror_prob = 0.50
+    conf.distort_prob = -1
+
+    # datasets
+    conf.dataset_test = 'kitti_split1'
+    conf.datasets_train = [{
+        'name': 'kitti_split1',
+        'anno_fmt': 'kitti_det',
+        'im_ext': '.png',
+        'scale': 1
+    }]
+    conf.use_3d_for_2d = True
+
+    # percent expected height ranges based on test_scale
+    # used for anchor selection 
+    conf.percent_anc_h = [0.0625, 0.75]
+
+    # labels settings
+    conf.min_gt_h = conf.test_scale * conf.percent_anc_h[0]
+    conf.max_gt_h = conf.test_scale * conf.percent_anc_h[1]
+    conf.min_gt_vis = 0.65
+    conf.ilbls = ['Van', 'ignore']
+    conf.lbls = ['Car', 'Pedestrian', 'Cyclist']
+
+    # ----------------------------------------
+    #  detection sampling
+    # ----------------------------------------
+
+    # detection sampling
+    conf.batch_size = 2
+    conf.fg_image_ratio = 1.0
+    conf.box_samples = 0.20
+    conf.fg_fraction = 0.20
+    conf.bg_thresh_lo = 0
+    conf.bg_thresh_hi = 0.5
+    conf.fg_thresh = 0.5
+    conf.ign_thresh = 0.5
+    conf.best_thresh = 0.35
+
+    # ----------------------------------------
+    #  inference and testing
+    # ----------------------------------------
+
+    # nms
+    conf.nms_topN_pre = 3000
+    conf.nms_topN_post = 40
+    conf.nms_thres = 0.4
+    conf.clip_boxes = False
+
+    conf.test_protocol = 'kitti'
+    conf.test_db = 'kitti'
+    conf.test_min_h = 0
+    conf.min_det_scales = [0, 0]
+
+    # ----------------------------------------
+    #  anchor settings
+    # ----------------------------------------
+
+    # clustering settings
+    conf.cluster_anchors = 0
+    conf.even_anchors = 0
+    conf.expand_anchors = 0
+
+    conf.anchors = None
+
+    conf.bbox_means = None
+    conf.bbox_stds = None
+
+    # initialize anchors
+    base = (conf.max_gt_h / conf.min_gt_h)**(1 / (12 - 1))
+    conf.anchor_scales = np.array(
+        [conf.min_gt_h * (base**i) for i in range(0, 12)])
+    conf.anchor_ratios = np.array([0.5, 1.0, 1.5])
+
+    # loss logic
+    conf.hard_negatives = True
+    conf.focal_loss = 0
+    conf.cls_2d_lambda = 1
+    conf.iou_2d_lambda = 1
+    conf.bbox_2d_lambda = 0
+    conf.bbox_3d_lambda = 1
+    conf.bbox_3d_proj_lambda = 0.0
+
+    conf.hill_climbing = True
+
+    conf.bins = 32
+
+    # visdom
+    conf.visdom_port = 8100
+
+    conf.pretrained = 'paddle.pdparams'
+
+    return conf

PaddleCV/3d_vision/M3D-RPN/config/kitti_3d_multi_warmup.py

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+"""
+config of warmup
+"""
+
+from easydict import EasyDict as edict
+import numpy as np
+
+
+def Config():
+    """
+    config
+    """
+    conf = edict()
+
+    # ----------------------------------------
+    #  general
+    # ----------------------------------------
+
+    conf.model = 'model_3d_dilate'
+    # solver settings
+    conf.solver_type = 'sgd'
+    conf.lr = 0.004
+    conf.momentum = 0.9
+    conf.weight_decay = 0.0005
+    conf.max_iter = 50000
+    conf.snapshot_iter = 10000
+    conf.display = 20
+    conf.do_test = True
+
+    # sgd parameters
+    conf.lr_policy = 'poly'
+    conf.lr_steps = None
+    conf.lr_target = conf.lr * 0.00001
+
+    # random
+    conf.rng_seed = 2
+    conf.cuda_seed = 2
+
+    # misc network
+    conf.image_means = [0.485, 0.456, 0.406]
+    conf.image_stds = [0.229, 0.224, 0.225]
+    conf.feat_stride = 16
+
+    conf.has_3d = True
+
+    # ----------------------------------------
+    #  image sampling and datasets
+    # ----------------------------------------
+
+    # scale sampling  
+    conf.test_scale = 512
+    conf.crop_size = [512, 1760]
+    conf.mirror_prob = 0.50
+    conf.distort_prob = -1
+
+    # datasets
+    conf.dataset_test = 'kitti_split1'
+    conf.datasets_train = [{
+        'name': 'kitti_split1',
+        'anno_fmt': 'kitti_det',
+        'im_ext': '.png',
+        'scale': 1
+    }]
+    conf.use_3d_for_2d = True
+
+    # percent expected height ranges based on test_scale
+    # used for anchor selection 
+    conf.percent_anc_h = [0.0625, 0.75]
+
+    # labels settings
+    conf.min_gt_h = conf.test_scale * conf.percent_anc_h[0]
+    conf.max_gt_h = conf.test_scale * conf.percent_anc_h[1]
+    conf.min_gt_vis = 0.65
+    conf.ilbls = ['Van', 'ignore']
+    conf.lbls = ['Car', 'Pedestrian', 'Cyclist']
+
+    # ----------------------------------------
+    #  detection sampling
+    # ----------------------------------------
+
+    # detection sampling
+    conf.batch_size = 2
+    conf.fg_image_ratio = 1.0
+    conf.box_samples = 0.20
+    conf.fg_fraction = 0.20
+    conf.bg_thresh_lo = 0
+    conf.bg_thresh_hi = 0.5
+    conf.fg_thresh = 0.5
+    conf.ign_thresh = 0.5
+    conf.best_thresh = 0.35
+
+    # ----------------------------------------
+    #  inference and testing
+    # ----------------------------------------
+
+    # nms
+    conf.nms_topN_pre = 3000
+    conf.nms_topN_post = 40
+    conf.nms_thres = 0.4
+    conf.clip_boxes = False
+
+    conf.test_protocol = 'kitti'
+    conf.test_db = 'kitti'
+    conf.test_min_h = 0
+    conf.min_det_scales = [0, 0]
+
+    # ----------------------------------------
+    #  anchor settings
+    # ----------------------------------------
+
+    # clustering settings
+    conf.cluster_anchors = 0
+    conf.even_anchors = 0
+    conf.expand_anchors = 0
+
+    conf.anchors = None
+
+    conf.bbox_means = None
+    conf.bbox_stds = None
+
+    # initialize anchors
+    base = (conf.max_gt_h / conf.min_gt_h)**(1 / (12 - 1))
+    conf.anchor_scales = np.array(
+        [conf.min_gt_h * (base**i) for i in range(0, 12)])
+    conf.anchor_ratios = np.array([0.5, 1.0, 1.5])
+
+    # loss logic
+    conf.hard_negatives = True
+    conf.focal_loss = 0
+    conf.cls_2d_lambda = 1
+    conf.iou_2d_lambda = 1
+    conf.bbox_2d_lambda = 0
+    conf.bbox_3d_lambda = 1
+    conf.bbox_3d_proj_lambda = 0.0
+
+    conf.hill_climbing = True
+
+    conf.pretrained = 'pretrained_model/densenet.pdparams'
+
+    # visdom
+    conf.visdom_port = 8100
+
+    return conf

PaddleCV/3d_vision/M3D-RPN/data/__init__.py

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+# Copyright (c) 2020 PaddlePaddle Authors. All Rights Reserved
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+init
+"""
+from . import m3drpn_reader
+#from .m3drpn_reader import *
+
+#__all__ = m3drpn_reader.__all__