Merge branch 'develop'

pcdet/models/backbones_3d/vfe/pillar_vfe.py

@@ -3,6 +3,7 @@
 import torch.nn.functional as F
 from .vfe_template import VFETemplate
 
+
 class PFNLayer(nn.Module):
     def __init__(self,
                  in_channels,
@@ -28,12 +29,14 @@ def forward(self, inputs):
         if inputs.shape[0] > self.part:
             # nn.Linear performs randomly when batch size is too large
             num_parts = inputs.shape[0] // self.part
-            part_linear_out = [self.linear(inputs[num_part*self.part:(num_part+1)*self.part]) for num_part in range(num_parts+1)]
+            part_linear_out = [self.linear(inputs[num_part*self.part:(num_part+1)*self.part])
+                               for num_part in range(num_parts+1)]
             x = torch.cat(part_linear_out, dim=0)
         else:
-            x = self.linear(inputs)            
-        total_points, voxel_points, channels = x.shape
-        x = self.norm(x.view(-1, channels)).view(total_points, voxel_points, channels) if self.use_norm else x
+            x = self.linear(inputs)
+        torch.backends.cudnn.enabled = False
+        x = self.norm(x.permute(0, 2, 1)).permute(0, 2, 1) if self.use_norm else x
+        torch.backends.cudnn.enabled = True
         x = F.relu(x)
         x_max = torch.max(x, dim=1, keepdim=True)[0]
 
@@ -44,6 +47,7 @@ def forward(self, inputs):
             x_concatenated = torch.cat([x, x_repeat], dim=2)
             return x_concatenated
 
+
 class PillarVFE(VFETemplate):
     def __init__(self, model_cfg, num_point_features, voxel_size, point_cloud_range):
         super().__init__(model_cfg=model_cfg)

pcdet/models/dense_heads/target_assigner/axis_aligned_target_assigner.py

@@ -1,4 +1,5 @@
 import torch
+import numpy as np
 from ....utils import box_utils
 from ....ops.iou3d_nms import iou3d_nms_utils
 
@@ -8,7 +9,7 @@ def __init__(self, anchor_target_cfg, anchor_generator_cfg, class_names, box_cod
         super().__init__()
         self.box_coder = box_coder
         self.match_height = match_height
-        self.class_names = class_names
+        self.class_names = np.array(class_names)
         self.anchor_class_names = [config['class_name'] for config in anchor_generator_cfg]
         self.pos_fraction = anchor_target_cfg.POS_FRACTION if anchor_target_cfg.POS_FRACTION >= 0 else None
         self.sample_size = anchor_target_cfg.SAMPLE_SIZE
@@ -46,7 +47,11 @@ def assign_targets(self, all_anchors, gt_boxes_with_classes, use_multihead=False
 
             target_list = []
             for anchor_class_name, anchors in zip(self.anchor_class_names, all_anchors):
-                mask = torch.tensor([self.class_names[c-1] == anchor_class_name for c in cur_gt_classes], dtype=torch.bool)
+                if cur_gt_classes.shape[0] > 1:
+                    mask = torch.from_numpy(self.class_names[cur_gt_classes.cpu() - 1] == anchor_class_name)
+                else:
+                    mask = torch.tensor([self.class_names[c - 1] == anchor_class_name
+                                         for c in cur_gt_classes], dtype=torch.bool)
 
                 if use_multihead:
                     anchors = anchors.permute(3, 4, 0, 1, 2, 5).contiguous().view(-1, anchors.shape[-1])
@@ -75,15 +80,16 @@ def assign_targets(self, all_anchors, gt_boxes_with_classes, use_multihead=False
             else:
                 target_dict = {
                     'box_cls_labels': [t['box_cls_labels'].view(*feature_map_size, -1) for t in target_list],
-                    'box_reg_targets': [t['box_reg_targets'].view(*feature_map_size, -1, self.box_coder.code_size) for t in target_list],
+                    'box_reg_targets': [t['box_reg_targets'].view(*feature_map_size, -1, self.box_coder.code_size)
+                                        for t in target_list],
                     'reg_weights': [t['reg_weights'].view(*feature_map_size, -1) for t in target_list]
                 }
 
-                target_dict['box_reg_targets'] = torch.cat(target_dict['box_reg_targets'], dim=-2).view(-1, self.box_coder.code_size)
+                target_dict['box_reg_targets'] = torch.cat(target_dict['box_reg_targets'],
+                                                           dim=-2).view(-1, self.box_coder.code_size)
                 target_dict['box_cls_labels'] = torch.cat(target_dict['box_cls_labels'], dim=-1).view(-1)
                 target_dict['reg_weights'] = torch.cat(target_dict['reg_weights'], dim=-1).view(-1)
 
-
             bbox_targets.append(target_dict['box_reg_targets'])
             cls_labels.append(target_dict['box_cls_labels'])
             reg_weights.append(target_dict['reg_weights'])
@@ -109,25 +115,25 @@ def assign_targets_single(self, anchors,
 
         num_anchors = anchors.shape[0]
         num_gt = gt_boxes.shape[0]
-        box_ndim = anchors.shape[1]
+        # box_ndim = anchors.shape[1]
 
         labels = torch.ones((num_anchors,), dtype=torch.int32, device=anchors.device) * -1
         gt_ids = torch.ones((num_anchors,), dtype=torch.int32, device=anchors.device) * -1
 
         if len(gt_boxes) > 0 and anchors.shape[0] > 0:
-            anchor_by_gt_overlap = iou3d_nms_utils.boxes_iou3d_gpu(anchors, gt_boxes) if self.match_height else box_utils.boxes3d_nearest_bev_iou(anchors, gt_boxes)
-            anchor_to_gt_argmax = anchor_by_gt_overlap.argmax(dim=1)
-            anchor_to_gt_max = anchor_by_gt_overlap[torch.arange(num_anchors),
-                                                    anchor_to_gt_argmax]  
-
-            gt_to_anchor_argmax = anchor_by_gt_overlap.argmax(dim=0)
-            gt_to_anchor_max = anchor_by_gt_overlap[
-                gt_to_anchor_argmax,
-                torch.arange(num_gt)]
+            anchor_by_gt_overlap = iou3d_nms_utils.boxes_iou3d_gpu(anchors[:, 0:7], gt_boxes[:, 0:7]) \
+                if self.match_height else box_utils.boxes3d_nearest_bev_iou(anchors[:, 0:7], gt_boxes[:, 0:7])
+
+            anchor_to_gt_argmax = torch.from_numpy(anchor_by_gt_overlap.cpu().numpy().argmax(axis=1)).cuda()
+            anchor_to_gt_max = anchor_by_gt_overlap[
+                torch.arange(num_anchors, device=anchors.device), anchor_to_gt_argmax
+            ]
+
+            gt_to_anchor_argmax = torch.from_numpy(anchor_by_gt_overlap.cpu().numpy().argmax(axis=0)).cuda()
+            gt_to_anchor_max = anchor_by_gt_overlap[gt_to_anchor_argmax, torch.arange(num_gt, device=anchors.device)]
             empty_gt_mask = gt_to_anchor_max == 0
             gt_to_anchor_max[empty_gt_mask] = -1
-            anchors_with_max_overlap = torch.nonzero(
-                anchor_by_gt_overlap == gt_to_anchor_max)[:, 0]
+            anchors_with_max_overlap = torch.nonzero(anchor_by_gt_overlap == gt_to_anchor_max)[:, 0]
 
             gt_inds_force = anchor_to_gt_argmax[anchors_with_max_overlap]
             labels[anchors_with_max_overlap] = gt_classes[gt_inds_force]
@@ -139,7 +145,7 @@ def assign_targets_single(self, anchors,
             gt_ids[pos_inds] = gt_inds_over_thresh.int()
             bg_inds = torch.nonzero(anchor_to_gt_max < unmatched_threshold)[:, 0]
         else:
-            bg_inds = torch.arange(num_anchors)
+            bg_inds = torch.arange(num_anchors, device=anchors.device)
 
         fg_inds = torch.nonzero(labels > 0)[:, 0]
 
@@ -155,7 +161,7 @@ def assign_targets_single(self, anchors,
             if len(bg_inds) > num_bg:
                 enable_inds = bg_inds[torch.randint(0, len(bg_inds), size=(num_bg,))]
                 labels[enable_inds] = 0
-            bg_inds = torch.nonzero(labels == 0)[:, 0]
+            # bg_inds = torch.nonzero(labels == 0)[:, 0]
         else:
             if len(gt_boxes) == 0 or anchors.shape[0] == 0:
                 labels[:] = 0