点云处理的train pipeline

LoadPointsFromFile

在进入train_pipeline之前，results中有如下的数据

LoadPointsFromFile的作用就是从原始的点云的文件中读取出点的数据，并将其转换为mmdet3d.core.points.lidar_points.LiDARPoints这个类，然后在results中增加一个键值对，来存放读入的点的信息

LoadPointsFromMultiSweeps

其作用是读取multi sweep的点云数据，个人理解是单帧的点云过于稀疏，用多帧来补充点的个数，经过这个之前有34752个点，经过这个之后有267766个点 。同时也会去除掉离远点较近的点


核心代码：

            for idx in choices:
                sweep = results['sweeps'][idx]
                points_sweep = self._load_points(sweep['data_path'])
                points_sweep = np.copy(points_sweep).reshape(-1, self.load_dim)
                if self.remove_close:
                # 去除掉离liar系下原点较近的点，
                    points_sweep = self._remove_close(points_sweep)
                sweep_ts = sweep['timestamp'] / 1e6
                # 个人理解这里是将sweep中点的坐标与当前帧对齐
                points_sweep[:, :3] = points_sweep[:, :3] @ sweep[
                    'sensor2lidar_rotation'].T
                points_sweep[:, :3] += sweep['sensor2lidar_translation']
                points_sweep[:, 4] = ts - sweep_ts
                points_sweep = points.new_point(points_sweep)
                sweep_points_list.append(points_sweep)

这里有将sweep中点的坐标与当前帧对齐的操作，为啥对齐需要这样操作，还待补充

LoadAnnotations3D

从results中读取gt和label的信息，并且给在results中新增添gt_bboxes_3d和gt_labels_3d这两个键值对

    def _load_bboxes_3d(self, results):
        results['gt_bboxes_3d'] = results['ann_info']['gt_bboxes_3d']
        results['bbox3d_fields'].append('gt_bboxes_3d')
        return results

   def _load_labels_3d(self, results):
        results['gt_labels_3d'] = results['ann_info']['gt_labels_3d']
        return results

GlobalRotScaleTrans

首先将gt_bbox和点云中的点都进行旋转

# 调用mmdet3d中 LiDARInstance3DBoxes中的rotate方法实现
 points, rot_mat_T = input_dict[key].rotate(
                    noise_rotation, input_dict['points'])
                    
input_dict['points'] = points
# 同时在数据中记录旋转的矩阵
input_dict['pcd_rotation'] = rot_mat_T

# LiDARInstance3DBoxes中的rotate的实现
rot_sin = torch.sin(angle)
rot_cos = torch.cos(angle)
# 生成旋转矩阵
rot_mat_T = self.tensor.new_tensor([[rot_cos, -rot_sin, 0],
                                                [rot_sin, rot_cos, 0],
                                                [0, 0, 1]])
 
# 对gt的中心点坐标进行旋转                                               
self.tensor[:, :3] = self.tensor[:, :3] @ rot_mat_T
# 对gt的航向角进行旋转
self.tensor[:, 6] += angle
# 对点云中的点进行旋转
if isinstance(points, torch.Tensor):
                points[:, :3] = points[:, :3] @ rot_mat_T
elif isinstance(points, np.ndarray):
                rot_mat_T = rot_mat_T.numpy()
                points[:, :3] = np.dot(points[:, :3], rot_mat_T)
elif isinstance(points, BasePoints):
                # clockwise
                points.rotate(-angle)
else:
      raise ValueError
                                 

将gt_bbox和point进行scale

scale = input_dict['pcd_scale_factor']
points = input_dict['points']
# 对点云中的每个点的坐标乘以scale
points.scale(scale)
# 下面一行是base_points中对scale的实现
self.tensor[:, :3] *= scale_factor


input_dict['points'] = points
for key in input_dict['bbox3d_fields']:
	#对gt中点的坐标和长宽高都进行scale
      input_dict[key].scale(scale)
     # 下面两行是base_box3d中scale的实现
      self.tensor[:, :6] *= scale_factor
      self.tensor[:, 7:] *= scale_factor

对点云中的每个点都乘以scale_factor，每个点的坐标都发生了改变，相当于由这些点构成的物体也发生了改变，可以理解为将整个点云感知到的场景进行了resize

将gt_bbox和point进行trans(可以理解为平移？)

        translation_std = np.array(self.translation_std, dtype=np.float32)
        trans_factor = np.random.normal(scale=translation_std, size=3).T

        input_dict['points'].translate(trans_factor)
        input_dict['pcd_trans'] = trans_factor
        for key in input_dict['bbox3d_fields']:
            input_dict[key].translate(trans_factor)

本质上就是对gt的中心点坐标和每一个point坐标都加上trans_factor，并且在增加一个键值对来记录这个平移的向量