mmdetection3d 源码学习 mvxnet（多模态融合）

mmdetection3d 源码学习 mvxnet（多模态融合）

配置文件

dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py

模型

# model settings
voxel_size = [0.05, 0.05, 0.1]
point_cloud_range = [0, -40, -3, 70.4, 40, 1]
##模型 图像：主干 ResNet，neck FPN；点云：voxel编码，主干second（稀疏编码），neck secondFPN；融合：点融合
model = dict(
    type='DynamicMVXFasterRCNN',
    img_backbone=dict(
        type='ResNet',
        depth=50,
        num_stages=4,
        out_indices=(0, 1, 2, 3),
        frozen_stages=1,
        norm_cfg=dict(type='BN', requires_grad=False),
        norm_eval=True,
        style='caffe'),
    img_neck=dict(
        type='FPN',
        in_channels=[256, 512, 1024, 2048],
        out_channels=256,
        num_outs=5),
    pts_voxel_layer=dict(
        max_num_points=-1,
        point_cloud_range=point_cloud_range,
        voxel_size=voxel_size,
        max_voxels=(-1, -1),
    ),
    pts_voxel_encoder=dict(
        type='DynamicVFE',
        in_channels=4,
        feat_channels=[64, 64],
        with_distance=False,
        voxel_size=voxel_size,
        with_cluster_center=True,
        with_voxel_center=True,
        point_cloud_range=point_cloud_range,
        fusion_layer=dict(
            type='PointFusion',
            img_channels=256,
            pts_channels=64,
            mid_channels=128,
            out_channels=128,
            img_levels=[0, 1, 2, 3, 4],
            align_corners=False,
            activate_out=True,
            fuse_out=False)),
    pts_middle_encoder=dict(
        type='SparseEncoder',
        in_channels=128,
        sparse_shape=[41, 1600, 1408],
        order=('conv', 'norm', 'act')),
    pts_backbone=dict(
        type='SECOND',
        in_channels=256,
        layer_nums=[5, 5],
        layer_strides=[1, 2],
        out_channels=[128, 256]),
    pts_neck=dict(
        type='SECONDFPN',
        in_channels=[128, 256],
        upsample_strides=[1, 2],
        out_channels=[256, 256]),
    pts_bbox_head=dict(
        type='Anchor3DHead',
        num_classes=3,
        in_channels=512,
        feat_channels=512,
        use_direction_classifier=True,
        anchor_generator=dict(
            type='Anchor3DRangeGenerator',
            ranges=[
                [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                [0, -40.0, -1.78, 70.4, 40.0, -1.78],
            ],
            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
            rotations=[0, 1.57],
            reshape_out=False),
        assigner_per_size=True,
        diff_rad_by_sin=True,
        assign_per_class=True,
        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
        loss_cls=dict(
            type='FocalLoss',
            use_sigmoid=True,
            gamma=2.0,
            alpha=0.25,
            loss_weight=1.0),
        loss_bbox=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=2.0),
        loss_dir=dict(
            type='CrossEntropyLoss', use_sigmoid=False, loss_weight=0.2)),
    # model training and testing settings
    train_cfg=dict(
        pts=dict(
            assigner=[
                dict(  # for Pedestrian
                    type='MaxIoUAssigner',
                    iou_calculator=dict(type='BboxOverlapsNearest3D'),
                    pos_iou_thr=0.35,
                    neg_iou_thr=0.2,
                    min_pos_iou=0.2,
                    ignore_iof_thr=-1),
                dict(  # for Cyclist
                    type='MaxIoUAssigner',
                    iou_calculator=dict(type='BboxOverlapsNearest3D'),
                    pos_iou_thr=0.35,
                    neg_iou_thr=0.2,
                    min_pos_iou=0.2,
                    ignore_iof_thr=-1),
                dict(  # for Car
                    type='MaxIoUAssigner',
                    iou_calculator=dict(type='BboxOverlapsNearest3D'),
                    pos_iou_thr=0.6,
                    neg_iou_thr=0.45,
                    min_pos_iou=0.45,
                    ignore_iof_thr=-1),
            ],
            allowed_border=0,
            pos_weight=-1,
            debug=False)),
    test_cfg=dict(
        pts=dict(
            use_rotate_nms=True,
            nms_across_levels=False,
            nms_thr=0.01,
            score_thr=0.1,
            min_bbox_size=0,
            nms_pre=100,
            max_num=50)))

数据集

# dataset settingskitti数据集，三类样本
dataset_type = 'KittiDataset'
data_root = 'data/kitti/'
class_names = ['Pedestrian', 'Cyclist', 'Car']
img_norm_cfg = dict(
    mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)
input_modality = dict(use_lidar=True, use_camera=True)

训练pipeline

train_pipeline = [
    dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
    dict(type='LoadImageFromFile'),
    dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
    dict(
        type='Resize',
        img_scale=[(640, 192), (2560, 768)],
        multiscale_mode='range',
        keep_ratio=True),
    dict(
        type='GlobalRotScaleTrans',
        rot_range=[-0.78539816, 0.78539816],
        scale_ratio_range=[0.95, 1.05],
        translation_std=[0.2, 0.2, 0.2]),
    dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5),
    dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='ObjectRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='PointShuffle'),
    dict(type='Normalize', **img_norm_cfg),
    dict(type='Pad', size_divisor=32),
    dict(type='DefaultFormatBundle3D', class_names=class_names),
    dict(
        type='Collect3D',
        keys=['points', 'img', 'gt_bboxes_3d', 'gt_labels_3d']),
]

测试pipeline

test_pipeline = [
    dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
    dict(type='LoadImageFromFile'),
    dict(
        type='MultiScaleFlipAug3D',
        img_scale=(1280, 384),
        pts_scale_ratio=1,
        flip=False,
        transforms=[
            dict(type='Resize', multiscale_mode='value', keep_ratio=True),
            dict(
                type='GlobalRotScaleTrans',
                rot_range=[0, 0],
                scale_ratio_range=[1., 1.],
                translation_std=[0, 0, 0]),
            dict(type='RandomFlip3D'),
            dict(type='Normalize', **img_norm_cfg),
            dict(type='Pad', size_divisor=32),
            dict(
                type='PointsRangeFilter', point_cloud_range=point_cloud_range),
            dict(
                type='DefaultFormatBundle3D',
                class_names=class_names,
                with_label=False),
            dict(type='Collect3D', keys=['points', 'img'])
        ])
]

数据

data = dict(
    samples_per_gpu=2,
    workers_per_gpu=2,
    train=dict(
        type='RepeatDataset',
        times=2,
        dataset=dict(
            type=dataset_type,
            data_root=data_root,
            ann_file=data_root + 'kitti_infos_train.pkl',
            split='training',
            pts_prefix='velodyne_reduced',
            pipeline=train_pipeline,
            modality=input_modality,
            classes=class_names,
            test_mode=False)),
    val=dict(
        type=dataset_type,
        data_root=data_root,
        ann_file=data_root + 'kitti_infos_val.pkl',
        split='training',
        pts_prefix='velodyne_reduced',
        pipeline=test_pipeline,
        modality=input_modality,
        classes=class_names,
        test_mode=True),
    test=dict(
        type=dataset_type,
        data_root=data_root,
        ann_file=data_root + 'kitti_infos_val.pkl',
        split='training',
        pts_prefix='velodyne_reduced',
        pipeline=test_pipeline,
        modality=input_modality,
        classes=class_names,
        test_mode=True))
# Training settings
optimizer = dict(type='AdamW', lr=0.003, betas=(0.95, 0.99), weight_decay=0.01)
# max_norm=10 is better for SECOND
optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2))
lr_config = dict(
    policy='CosineAnnealing',
    warmup='linear',
    warmup_iters=1000,
    warmup_ratio=1.0 / 10,
    min_lr_ratio=1e-5)
momentum_config = None
checkpoint_config = dict(interval=1)
# yapf:disable
log_config = dict(
    interval=50,
    hooks=[
        dict(type='TextLoggerHook'),
        dict(type='TensorboardLoggerHook')
    ])
# yapf:enable
evaluation = dict(interval=1)
# runtime settings
total_epochs = 40
dist_params = dict(backend='nccl')
log_level = 'INFO'
work_dir = None
# You may need to download the model first is the network is unstable

预训练数据

load_from = 'https://download.openmmlab.com/mmdetection3d/pretrain_models/mvx_faster_rcnn_detectron2-caffe_20e_coco-pretrain_gt-sample_kitti-3-class_moderate-79.3_20200207-a4a6a3c7.pth'  # noqa
resume_from = None
workflow = [('train', 1)]

检测器

mvx_two_stage.py

导入

#导入包
import mmcv
import torch
from mmcv.parallel import DataContainer as DC
from mmcv.runner import force_fp32
from os import path as osp
from torch import nn as nn
from torch.nn import functional as F

from mmdet3d.core import (Box3DMode, Coord3DMode, bbox3d2result,
                          merge_aug_bboxes_3d, show_result)
from mmdet3d.ops import Voxelization
from mmdet.core import multi_apply
from mmdet.models import DETECTORS
from .. import builder
from .base import Base3DDetector

定义MVXTwoStageDetector类

@DETECTORS.register_module()
class MVXTwoStageDetector(Base3DDetector):
    """Base class of Multi-modality VoxelNet."""

    def __init__(self,
                 pts_voxel_layer=None,
                 pts_voxel_encoder=None,
                 pts_middle_encoder=None,
                 pts_fusion_layer=None,
                 img_backbone=None,
                 pts_backbone=None,
                 img_neck=None,
                 pts_neck=None,
                 pts_bbox_head=None,
                 img_roi_head=None,
                 img_rpn_head=None,
                 train_cfg=None,
                 test_cfg=None,
                 pretrained=None):
        super(MVXTwoStageDetector, self).__init__()

        if pts_voxel_layer:
            self.pts_voxel_layer = Voxelization(**pts_voxel_layer)
        if pts_voxel_encoder:
            self.pts_voxel_encoder = builder.build_voxel_encoder(
                pts_voxel_encoder)
        if pts_middle_encoder:
            self.pts_middle_encoder = builder.build_middle_encoder(
                pts_middle_encoder)
        if pts_backbone:
            self.pts_backbone = builder.build_backbone(pts_backbone)
        if pts_fusion_layer:
            self.pts_fusion_layer = builder.build_fusion_layer(
                pts_fusion_layer)
        if pts_neck is not None:
            self.pts_neck = builder.build_neck(pts_neck)
        if pts_bbox_head:
            pts_train_cfg = train_cfg.pts if train_cfg else None
            pts_bbox_head.update(train_cfg=pts_train_cfg)
            pts_test_cfg = test_cfg.pts if test_cfg else None
            pts_bbox_head.update(test_cfg=pts_test_cfg)
            self.pts_bbox_head = builder.build_head(pts_bbox_head)

        if img_backbone:
            self.img_backbone = builder.build_backbone(img_backbone)
        if img_neck is not None:
            self.img_neck = builder.build_neck(img_neck)
        if img_rpn_head is not None:
            self.img_rpn_head = builder.build_head(img_rpn_head)
        if img_roi_head is not None:
            self.img_roi_head = builder.build_head(img_roi_head)

        self.train_cfg = train_cfg
        self.test_cfg = test_cfg
        self.init_weights(pretrained=pretrained)

    def init_weights(self, pretrained=None):
        """Initialize model weights."""
        super(MVXTwoStageDetector, self).init_weights(pretrained)
        if pretrained is None:
            img_pretrained = None
            pts_pretrained = None
        elif isinstance(pretrained, dict):
            img_pretrained = pretrained.get('img', None)
            pts_pretrained = pretrained.get('pts', None)
        else:
            raise ValueError(
                f'pretrained should be a dict, got {type(pretrained)}')
        if self.with_img_backbone:
            self.img_backbone.init_weights(pretrained=img_pretrained)
        if self.with_pts_backbone:
            self.pts_backbone.init_weights(pretrained=pts_pretrained)
        if self.with_img_neck:
            if isinstance(self.img_neck, nn.Sequential):
                for m in self.img_neck:
                    m.init_weights()
            else:
                self.img_neck.init_weights()

        if self.with_img_roi_head:
            self.img_roi_head.init_weights(img_pretrained)
        if self.with_img_rpn:
            self.img_rpn_head.init_weights()
        if self.with_pts_bbox:
            self.pts_bbox_head.init_weights()

    @property##图像分支共享head？
    def with_img_shared_head(self):
        """bool: Whether the detector has a shared head in image branch."""
        return hasattr(self,
                       'img_shared_head') and self.img_shared_head is not None

    @property##3D box head？
    def with_pts_bbox(self):
        """bool: Whether the detector has a 3D box head."""
        return hasattr(self,
                       'pts_bbox_head') and self.pts_bbox_head is not None

    @property##2D box head？
    def with_img_bbox(self):
        """bool: Whether the detector has a 2D image box head."""
        return hasattr(self,
                       'img_bbox_head') and self.img_bbox_head is not None

    @property##2D 主干？
    def with_img_backbone(self):
        """bool: Whether the detector has a 2D image backbone."""
        return hasattr(self, 'img_backbone') and self.img_backbone is not None

    @property##3D主干？
    def with_pts_backbone(self):
        """bool: Whether the detector has a 3D backbone."""
        return hasattr(self, 'pts_backbone') and self.pts_backbone is not None

    @property##融合层？
    def with_fusion(self):
        """bool: Whether the detector has a fusion layer."""
        return hasattr(self,
                       'pts_fusion_layer') and self.fusion_layer is not None

    @property##图像neck？
    def with_img_neck(self):
        """bool: Whether the detector has a neck in image branch."""
        return hasattr(self, 'img_neck') and self.img_neck is not None

    @property
    def with_pts_neck(self):##3Dneck？
        """bool: Whether the detector has a neck in 3D detector branch."""
        return hasattr(self, 'pts_neck') and self.pts_neck is not None

    @property
    def with_img_rpn(self):##2D RPN？
        """bool: Whether the detector has a 2D RPN in image detector branch."""
        return hasattr(self, 'img_rpn_head') and self.img_rpn_head is not None

    @property
    def with_img_roi_head(self):##图像ROI head？
        """bool: Whether the detector has a RoI Head in image branch."""
        return hasattr(self, 'img_roi_head') and self.img_roi_head is not None

    @property
    def with_voxel_encoder(self):##体素编码？
        """bool: Whether the detector has a voxel encoder."""
        return hasattr(self,
                       'voxel_encoder') and self.voxel_encoder is not None

    @property##中间层编码？
    def with_middle_encoder(self):
        """bool: Whether the detector has a middle encoder."""
        return hasattr(self,
                       'middle_encoder') and self.middle_encoder is not None
	##图像特征提取
    def extract_img_feat(self, img, img_metas):
        """Extract features of images."""
        if self.with_img_backbone and img is not None:
            input_shape = img.shape[-2:]
            # update real input shape of each single img
            for img_meta in img_metas:
                img_meta.update(input_shape=input_shape)

            if img.dim() == 5 and img.size(0) == 1:
                img.squeeze_()
            elif img.dim() == 5 and img.size(0) > 1:
                B, N, C, H, W = img.size()
                img = img.view(B * N, C, H, W)
            img_feats = self.img_backbone(img)
        else:
            return None
        if self.with_img_neck:
            img_feats = self.img_neck(img_feats)
        return img_feats
	##点云特征提取
    def extract_pts_feat(self, pts, img_feats, img_metas):
        """Extract features of points."""
        if not self.with_pts_bbox:
            return None
        voxels, num_points, coors = self.voxelize(pts)
        voxel_features = self.pts_voxel_encoder(voxels, num_points, coors,
                                                img_feats, img_metas)
        batch_size = coors[-1, 0] + 1
        x = self.pts_middle_encoder(voxel_features, coors, batch_size)
        x = self.pts_backbone(x)
        if self.with_pts_neck:
            x = self.pts_neck(x)
        return x
	##图像与点云特征提取
    def extract_feat(self, points, img, img_metas):
        """Extract features from images and points."""
        img_feats = self.extract_img_feat(img, img_metas)
        pts_feats = self.extract_pts_feat(points, img_feats, img_metas)
        return (img_feats, pts_feats)
	
    @torch.no_grad()
    @force_fp32()
    def voxelize(self, points):##点的体素化
        """Apply dynamic voxelization to points.

        Args:
            points (list[torch.Tensor]): Points of each sample.

        Returns:
            tuple[torch.Tensor]: Concatenated points, number of points
                per voxel, and coordinates.
        """
        voxels, coors, num_points = [], [], []
        for res in points:
            res_voxels, res_coors, res_num_points = self.pts_voxel_layer(res)
            voxels.append(res_voxels)
            coors.append(res_coors)
            num_points.append(res_num_points)
        voxels = torch.cat(voxels, dim=0)
        num_points = torch.cat(num_points, dim=0)
        coors_batch = []
        for i, coor in enumerate(coors):
            coor_pad = F.pad(coor, (1, 0), mode='constant', value=i)
            coors_batch.append(coor_pad)
        coors_batch = torch.cat(coors_batch, dim=0)
        return voxels, num_points, coors_batch
	##前向训练
    def forward_train(self,
                      points=None,
                      img_metas=None,
                      gt_bboxes_3d=None,
                      gt_labels_3d=None,
                      gt_labels=None,
                      gt_bboxes=None,
                      img=None,
                      proposals=None,
                      gt_bboxes_ignore=None):
        """Forward training function.

        Args:
            points (list[torch.Tensor], optional): Points of each sample.
                Defaults to None.
            img_metas (list[dict], optional): Meta information of each sample.
                Defaults to None.
            gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`], optional):
                Ground truth 3D boxes. Defaults to None.
            gt_labels_3d (list[torch.Tensor], optional): Ground truth labels
                of 3D boxes. Defaults to None.
            gt_labels (list[torch.Tensor], optional): Ground truth labels
                of 2D boxes in images. Defaults to None.
            gt_bboxes (list[torch.Tensor], optional): Ground truth 2D boxes in
                images. Defaults to None.
            img (torch.Tensor optional): Images of each sample with shape
                (N, C, H, W). Defaults to None.
            proposals ([list[torch.Tensor], optional): Predicted proposals
                used for training Fast RCNN. Defaults to None.
            gt_bboxes_ignore (list[torch.Tensor], optional): Ground truth
                2D boxes in images to be ignored. Defaults to None.

        Returns:
            dict: Losses of different branches.
        """
        img_feats, pts_feats = self.extract_feat(
            points, img=img, img_metas=img_metas)
        losses = dict()
        if pts_feats:
            losses_pts = self.forward_pts_train(pts_feats, gt_bboxes_3d,
                                                gt_labels_3d, img_metas,
                                                gt_bboxes_ignore)
            losses.update(losses_pts)
        if img_feats:
            losses_img = self.forward_img_train(
                img_feats,
                img_metas=img_metas,
                gt_bboxes=gt_bboxes,
                gt_labels=gt_labels,
                gt_bboxes_ignore=gt_bboxes_ignore,
                proposals=proposals)
            losses.update(losses_img)
        return losses
	##点云前向训练
    def forward_pts_train(self,
                          pts_feats,
                          gt_bboxes_3d,
                          gt_labels_3d,
                          img_metas,
                          gt_bboxes_ignore=None):
        """Forward function for point cloud branch.

        Args:
            pts_feats (list[torch.Tensor]): Features of point cloud branch
            gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`]): Ground truth
                boxes for each sample.
            gt_labels_3d (list[torch.Tensor]): Ground truth labels for
                boxes of each sampole
            img_metas (list[dict]): Meta information of samples.
            gt_bboxes_ignore (list[torch.Tensor], optional): Ground truth
                boxes to be ignored. Defaults to None.

        Returns:
            dict: Losses of each branch.
        """
        outs = self.pts_bbox_head(pts_feats)
        loss_inputs = outs + (gt_bboxes_3d, gt_labels_3d, img_metas)
        losses = self.pts_bbox_head.loss(
            *loss_inputs, gt_bboxes_ignore=gt_bboxes_ignore)
        return losses
	##图像前向训练
    def forward_img_train(self,
                          x,
                          img_metas,
                          gt_bboxes,
                          gt_labels,
                          gt_bboxes_ignore=None,
                          proposals=None,
                          **kwargs):
        """Forward function for image branch.

        This function works similar to the forward function of Faster R-CNN.

        Args:
            x (list[torch.Tensor]): Image features of shape (B, C, H, W)
                of multiple levels.
            img_metas (list[dict]): Meta information of images.
            gt_bboxes (list[torch.Tensor]): Ground truth boxes of each image
                sample.
            gt_labels (list[torch.Tensor]): Ground truth labels of boxes.
            gt_bboxes_ignore (list[torch.Tensor], optional): Ground truth
                boxes to be ignored. Defaults to None.
            proposals (list[torch.Tensor], optional): Proposals of each sample.
                Defaults to None.

        Returns:
            dict: Losses of each branch.
        """
        losses = dict()
        # RPN forward and loss
        if self.with_img_rpn:
            rpn_outs = self.img_rpn_head(x)
            rpn_loss_inputs = rpn_outs + (gt_bboxes, img_metas,
                                          self.train_cfg.img_rpn)
            rpn_losses = self.img_rpn_head.loss(
                *rpn_loss_inputs, gt_bboxes_ignore=gt_bboxes_ignore)
            losses.update(rpn_losses)

            proposal_cfg = self.train_cfg.get('img_rpn_proposal',
                                              self.test_cfg.img_rpn)
            proposal_inputs = rpn_outs + (img_metas, proposal_cfg)
            proposal_list = self.img_rpn_head.get_bboxes(*proposal_inputs)
        else:
            proposal_list = proposals

        # bbox head forward and loss
        if self.with_img_bbox:
            # bbox head forward and loss
            img_roi_losses = self.img_roi_head.forward_train(
                x, img_metas, proposal_list, gt_bboxes, gt_labels,
                gt_bboxes_ignore, **kwargs)
            losses.update(img_roi_losses)

        return losses
	##在无数据增强的前提下测试图像
    def simple_test_img(self, x, img_metas, proposals=None, rescale=False):
        """Test without augmentation."""
        if proposals is None:
            proposal_list = self.simple_test_rpn(x, img_metas,
                                                 self.test_cfg.img_rpn)
        else:
            proposal_list = proposals

        return self.img_roi_head.simple_test(
            x, proposal_list, img_metas, rescale=rescale)
	##在无数据增强的前提下测试rpn
    def simple_test_rpn(self, x, img_metas, rpn_test_cfg):
        """RPN test function."""
        rpn_outs = self.img_rpn_head(x)
        proposal_inputs = rpn_outs + (img_metas, rpn_test_cfg)
        proposal_list = self.img_rpn_head.get_bboxes(*proposal_inputs)
        return proposal_list
	##在无数据增强的前提下点云
    def simple_test_pts(self, x, img_metas, rescale=False):
        """Test function of point cloud branch."""
        outs = self.pts_bbox_head(x)
        bbox_list = self.pts_bbox_head.get_bboxes(
            *outs, img_metas, rescale=rescale)
        bbox_results = [
            bbox3d2result(bboxes, scores, labels)
            for bboxes, scores, labels in bbox_list
        ]
        return bbox_results
	##在无数据增强的前提下测试
    def simple_test(self, points, img_metas, img=None, rescale=False):
        """Test function without augmentaiton."""
        img_feats, pts_feats = self.extract_feat(
            points, img=img, img_metas=img_metas)

        bbox_list = [dict() for i in range(len(img_metas))]
        if pts_feats and self.with_pts_bbox:
            bbox_pts = self.simple_test_pts(
                pts_feats, img_metas, rescale=rescale)
            for result_dict, pts_bbox in zip(bbox_list, bbox_pts):
                result_dict['pts_bbox'] = pts_bbox
        if img_feats and self.with_img_bbox:
            bbox_img = self.simple_test_img(
                img_feats, img_metas, rescale=rescale)
            for result_dict, img_bbox in zip(bbox_list, bbox_img):
                result_dict['img_bbox'] = img_bbox
        return bbox_list
	##在数据增强的前提下测试
    def aug_test(self, points, img_metas, imgs=None, rescale=False):
        """Test function with augmentaiton."""
        img_feats, pts_feats = self.extract_feats(points, img_metas, imgs)

        bbox_list = dict()
        if pts_feats and self.with_pts_bbox:
            bbox_pts = self.aug_test_pts(pts_feats, img_metas, rescale)
            bbox_list.update(pts_bbox=bbox_pts)
        return [bbox_list]
	##提取点云和图像特征
    def extract_feats(self, points, img_metas, imgs=None):
        """Extract point and image features of multiple samples."""
        if imgs is None:
            imgs = [None] * len(img_metas)
        img_feats, pts_feats = multi_apply(self.extract_feat, points, imgs,
                                           img_metas)
        return img_feats, pts_feats
	##在数据增强的前提下测试点云
    def aug_test_pts(self, feats, img_metas, rescale=False):
        """Test function of point cloud branch with augmentaiton."""
        # only support aug_test for one sample
        aug_bboxes = []
        for x, img_meta in zip(feats, img_metas):
            outs = self.pts_bbox_head(x)
            bbox_list = self.pts_bbox_head.get_bboxes(
                *outs, img_meta, rescale=rescale)
            bbox_list = [
                dict(boxes_3d=bboxes, scores_3d=scores, labels_3d=labels)
                for bboxes, scores, labels in bbox_list
            ]
            aug_bboxes.append(bbox_list[0])

        # after merging, bboxes will be rescaled to the original image size
        merged_bboxes = merge_aug_bboxes_3d(aug_bboxes, img_metas,
                                            self.pts_bbox_head.test_cfg)
        return merged_bboxes
	##显示结果
    def show_results(self, data, result, out_dir):
        """Results visualization.

        Args:
            data (dict): Input points and the information of the sample.
            result (dict): Prediction results.
            out_dir (str): Output directory of visualization result.
        """
        for batch_id in range(len(result)):
            if isinstance(data['points'][0], DC):
                points = data['points'][0]._data[0][batch_id].numpy()
            elif mmcv.is_list_of(data['points'][0], torch.Tensor):
                points = data['points'][0][batch_id]
            else:
                ValueError(f"Unsupported data type {type(data['points'][0])} "
                           f'for visualization!')
            if isinstance(data['img_metas'][0], DC):
                pts_filename = data['img_metas'][0]._data[0][batch_id][
                    'pts_filename']
                box_mode_3d = data['img_metas'][0]._data[0][batch_id][
                    'box_mode_3d']
            elif mmcv.is_list_of(data['img_metas'][0], dict):
                pts_filename = data['img_metas'][0][batch_id]['pts_filename']
                box_mode_3d = data['img_metas'][0][batch_id]['box_mode_3d']
            else:
                ValueError(
                    f"Unsupported data type {type(data['img_metas'][0])} "
                    f'for visualization!')
            file_name = osp.split(pts_filename)[-1].split('.')[0]

            assert out_dir is not None, 'Expect out_dir, got none.'
            inds = result[batch_id]['pts_bbox']['scores_3d'] > 0.1
            pred_bboxes = result[batch_id]['pts_bbox']['boxes_3d'][inds]

            # for now we convert points and bbox into depth mode
            if (box_mode_3d == Box3DMode.CAM) or (box_mode_3d
                                                  == Box3DMode.LIDAR):
                points = Coord3DMode.convert_point(points, Coord3DMode.LIDAR,
                                                   Coord3DMode.DEPTH)
                pred_bboxes = Box3DMode.convert(pred_bboxes, box_mode_3d,
                                                Box3DMode.DEPTH)
            elif box_mode_3d != Box3DMode.DEPTH:
                ValueError(
                    f'Unsupported box_mode_3d {box_mode_3d} for convertion!')

            pred_bboxes = pred_bboxes.tensor.cpu().numpy()
            show_result(points, None, pred_bboxes, out_dir, file_name)