PointPillars论文阅读和代码解析

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已于 2023-07-08 15:23:19 修改

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分类专栏：三维目标检测论文阅读文章标签：论文阅读

于 2022-10-28 14:00:37 首次发布

本文链接：https://blog.csdn.net/slamer111/article/details/127566861

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三维目标检测论文阅读专栏收录该内容

11 篇文章 4 订阅

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论文地址：https://arxiv.org/pdf/1812.05784.pdf

代码地址：https://github.com/nutonomy/second.pytorch

https://github.com/open-mmlab/OpenPCDet

一、论文动机

1.将点云投影到鸟瞰图，往往会丧失大部分空间信息，导致特征比较稀疏，直接用卷积神经网络效果不是很好。

2.为了解决这个问题，在PointNet基础上提出了VoxelNet，算是真正意义上的端对端的3D检测方法。尽管性能很好，但是他的推理速度只有4.4Hz，无法实时部署，second对它进行改进，但3D卷积还是实时的瓶颈。

二、论文方法

1.提出了一种新颖的点云编码器和检测网络

2.由于去掉了3D卷积，所以他的速度非常快，可以达到60Hz

3.直接操作柱体，而不是voxel，可以直接使用2D卷积操作，在GPU上十分高效

三、网络结构

第一块：将点云划分为柱体块，然后扩充点的特征到9个(xyz,xc,yc,zc,xp,yp),用PointNet简化版进行特征升维处理，maxpooling得到每个柱体的特征，再放到伪图像里。

第二块：使用2D CNN对伪图像特征进行处理，同时使用RPN网络，获得更好的定位精度和语义特征。

第三块：根据得到的特征图在先验框的基础上进行回归和分类

四、损失函数和其他创新

4.1损失函数

和VoxelNet里一样，每个类锚点都由宽度，长度，高度和z中心描述，并在两个方向上应用：0度和90度。（x，y，z，w，l，h，θ）使用smoothL1损失，角度使用正弦损失，朝向使用softmax分类损失，类别使用Focal Loss损失。pointpillar里正负样本的定义，每个类别的GT和相应的每个类别的anchor单独计算正负样本，流程是：对于每个GT，找到与其IOU最大的anchor，直接赋为正样本，然后每个anchor找iou最大的GT，筛选大于阈值正样本，小于阈值负样本。这么做是为了防止有些GT分不到anchor。可能GT与所有anchor的最大iou为0.3，防止不满足阈值导致匹配不上。

分类损失：将正负样本用scatter_转换为独热向量(batch_size, 321408, 4)，4表示背景+三个类，然后模型预测的(batch_size, 248, 216, 18) --> (batch_size, 321408, 3)，然后只计算三个类的focalloss损失。

4.2数据增强

数据增强对于性能的提升非常明显。

1.仿照SECOND建立真实框库，每次向点云里随机插入

2.对真实框进行旋转平移增强

3.全局点云增强，随机镜像翻转，全局缩放旋转，全局平移模拟定位噪声

4.3巧妙设计

VoxelNet的编码器是两个PointNet，这里瘦身就使用了一个，这使我们的运行时在PyTorch runtime中减少了2.5ms。通过将上采样特征图层的输出尺寸减少一半至128，我们又节省了3.9ms。这些变化均不会影响检测性能。

4.4推理部分

特征图上每个点都有6个anchor(3个尺度*2个角度)。对每个anchor都会预测三个类别概率，七个检测框参数，对于xyz的偏移量，要先乘以缩放比例系数，xy的是 $\sqrt{x^{2} + y^{2}}$ ,z的系数是高度h，角度是argsin。每个anchor预测三个类别，分别sigmoid，得到三个分数，然后求max，得到最大的。根据阈值卡掉大部分anchor，然后进行无类别NMS，无类别NMS时，首先要选取topk概率，然后再NMS。

五、代码阅读

5.1Pillar Feature Net

将输入的点云进行pillar划分，每个pillar长宽为0.16m，得到网格平面(432,496),选取非空pillar，组成(M,32,4)和(M,3)pillar在网格平面坐标，然后进行点云特征扩充，每个点云增加其相对于该pillar内选取点平均xyz的偏移量和相对于pillar几何中心的xyz偏移量，得到(M,32,10)，经过一个简化的PointNet对点云特征进行升维（M,32,64）再maxpooling得到（M，64），再将M个pillar放回到（432，496）的网格里，得到伪图像数据。

点云生成pillar代码pcdet/datasets/processor/data_processor.py

   def transform_points_to_voxels(self, data_dict=None, config=None):
        """
        将点云转换为pillar,使用spconv的VoxelGeneratorV2
        因为pillar可是认为是一个z轴上所有voxel的集合，所以在设置的时候，
        只需要将每个voxel的高度设置成kitti中点云的最大高度即可
        """
        
        #初始化点云转换成pillar需要的参数
        if data_dict is None:
            # kitti截取的点云范围是[0, -39.68, -3, 69.12, 39.68, 1]
            # 得到[69.12, 79.36, 4]/[0.16, 0.16, 4] = [432, 496, 1]
            grid_size = (self.point_cloud_range[3:6] - self.point_cloud_range[0:3]) / np.array(config.VOXEL_SIZE)
            self.grid_size = np.round(grid_size).astype(np.int64)
            self.voxel_size = config.VOXEL_SIZE
            # just bind the config, we will create the VoxelGeneratorWrapper later,
            # to avoid pickling issues in multiprocess spawn
            return partial(self.transform_points_to_voxels, config=config)
 
        if self.voxel_generator is None:
            self.voxel_generator = VoxelGeneratorWrapper(
                #给定每个pillar的大小  [0.16, 0.16, 4]
                vsize_xyz=config.VOXEL_SIZE,  
                #给定点云的范围 [0, -39.68, -3, 69.12, 39.68, 1]
                coors_range_xyz=self.point_cloud_range,  
                #给定每个点云的特征维度，这里是x，y，z，r 其中r是激光雷达反射强度
                num_point_features=self.num_point_features,
                #给定每个pillar中最多能有多少个点 32
                max_num_points_per_voxel=config.MAX_POINTS_PER_VOXEL,  
                #最多选取多少个pillar，因为生成的pillar中，很多都是没有点在里面的
                # 可以重上面的可视化图像中查看到，所以这里只需要得到那些非空的pillar就行
                max_num_voxels=config.MAX_NUMBER_OF_VOXELS[self.mode],  # 16000
            )
        
        points = data_dict['points']
        # 生成pillar输出
        voxel_output = self.voxel_generator.generate(points)
        # 假设一份点云数据是N*4，那么经过pillar生成后会得到三份数据
        # voxels代表了每个生成的pillar数据，维度是[M,32,4]
        # coordinates代表了每个生成的pillar所在的zyx轴坐标，维度是[M,3],其中z恒为0
        # num_points代表了每个生成的pillar中有多少个有效的点维度是[m,]，因为不满32会被0填充
        voxels, coordinates, num_points = voxel_output
 
        if not data_dict['use_lead_xyz']:
            voxels = voxels[..., 3:]  # remove xyz in voxels(N, 3)
 
        data_dict['voxels'] = voxels
        data_dict['voxel_coords'] = coordinates
        data_dict['voxel_num_points'] = num_points
        return data_dict
 
#　下面是使用spconv生成pillar的代码    
 
class VoxelGeneratorWrapper():
    def __init__(self, vsize_xyz, coors_range_xyz, num_point_features, max_num_points_per_voxel, max_num_voxels):
        try:
            from spconv.utils import VoxelGeneratorV2 as VoxelGenerator
            self.spconv_ver = 1
        except:
            try:
                from spconv.utils import VoxelGenerator
                self.spconv_ver = 1
            except:
                from spconv.utils import Point2VoxelCPU3d as VoxelGenerator
                self.spconv_ver = 2
 
        if self.spconv_ver == 1:
            self._voxel_generator = VoxelGenerator(
                voxel_size=vsize_xyz,
                point_cloud_range=coors_range_xyz,
                max_num_points=max_num_points_per_voxel,
                max_voxels=max_num_voxels
            )
        else:
            self._voxel_generator = VoxelGenerator(
                vsize_xyz=vsize_xyz,
                coors_range_xyz=coors_range_xyz,
                num_point_features=num_point_features,
                max_num_points_per_voxel=max_num_points_per_voxel,
                max_num_voxels=max_num_voxels
            )
 
    def generate(self, points):
        if self.spconv_ver == 1:
            voxel_output = self._voxel_generator.generate(points)
            if isinstance(voxel_output, dict):
                voxels, coordinates, num_points = \
                    voxel_output['voxels'], voxel_output['coordinates'], voxel_output['num_points_per_voxel']
            else:
                voxels, coordinates, num_points = voxel_output
        else:
            assert tv is not None, f"Unexpected error, library: 'cumm' wasn't imported properly."
            voxel_output = self._voxel_generator.point_to_voxel(tv.from_numpy(points))
            tv_voxels, tv_coordinates, tv_num_points = voxel_output
            # make copy with numpy(), since numpy_view() will disappear as soon as the generator is deleted
            voxels = tv_voxels.numpy()
            coordinates = tv_coordinates.numpy()
            num_points = tv_num_points.numpy()
        return voxels, coordinates, num_points

点云特征扩充和简化版pointnet处理pcdet/models/backbones_3d/vfe/pillar_vfe.py

import torch
import torch.nn as nn
import torch.nn.functional as F
 
from .vfe_template import VFETemplate
 
 
class PFNLayer(nn.Module):
    def __init__(self,
                 in_channels,
                 out_channels,
                 use_norm=True,
                 last_layer=False):
        super().__init__()
 
        self.last_vfe = last_layer
        self.use_norm = use_norm
        if not self.last_vfe:
            out_channels = out_channels // 2
 
        if self.use_norm:
            # 根据论文中，这是是简化版pointnet网络层的初始化
            # 论文中使用的是 1x1 的卷积层完成这里的升维操作（理论上使用卷积的计算速度会更快）
            # 输入的通道数是刚刚经过数据增强过后的点云特征，每个点云有10个特征，
            # 输出的通道数是64
            self.linear = nn.Linear(in_channels, out_channels, bias=False)
            # 一维BN层
            self.norm = nn.BatchNorm1d(out_channels, eps=1e-3, momentum=0.01)
        else:
            self.linear = nn.Linear(in_channels, out_channels, bias=True)
 
        self.part = 50000
 
    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)]
            x = torch.cat(part_linear_out, dim=0)
        else:
            # x的维度由（M, 32, 10）升维成了（M, 32, 64）
            x = self.linear(inputs)
        torch.backends.cudnn.enabled = False
        # BatchNorm1d层:(M, 64, 32) --> (M, 32, 64)
        # （pillars,num_point,channel）->(pillars,channel,num_points)
        # 这里之所以变换维度，是因为BatchNorm1d在通道维度上进行,对于图像来说默认模式为[N,C,H*W],通道在第二个维度上
        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)
        # 完成pointnet的最大池化操作，找出每个pillar中最能代表该pillar的点
        # x_max shape ：（M, 1, 64）　
        x_max = torch.max(x, dim=1, keepdim=True)[0]
 
        if self.last_vfe:
            # 返回经过简化版pointnet处理pillar的结果
            return x_max
        else:
            x_repeat = x_max.repeat(1, inputs.shape[1], 1)
            x_concatenated = torch.cat([x, x_repeat], dim=2)
            return x_concatenated
 
 
class PillarVFE(VFETemplate):
    """
    model_cfg:NAME: PillarVFE
                    WITH_DISTANCE: False
                    USE_ABSLOTE_XYZ: True
                    USE_NORM: True
                    NUM_FILTERS: [64]
    num_point_features:4
    voxel_size:[0.16 0.16 4]
    POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
    """
 
    def __init__(self, model_cfg, num_point_features, voxel_size, point_cloud_range, **kwargs):
        super().__init__(model_cfg=model_cfg)
 
        self.use_norm = self.model_cfg.USE_NORM
        self.with_distance = self.model_cfg.WITH_DISTANCE
        self.use_absolute_xyz = self.model_cfg.USE_ABSLOTE_XYZ
        num_point_features += 6 if self.use_absolute_xyz else 3
        if self.with_distance:
            num_point_features += 1
 
        self.num_filters = self.model_cfg.NUM_FILTERS
        assert len(self.num_filters) > 0
        num_filters = [num_point_features] + list(self.num_filters)
 
        pfn_layers = []
        for i in range(len(num_filters) - 1):
            in_filters = num_filters[i]
            out_filters = num_filters[i + 1]
            pfn_layers.append(
                PFNLayer(in_filters, out_filters, self.use_norm, last_layer=(i >= len(num_filters) - 2))
            )
        # 加入线性层，将10维特征变为64维特征
        self.pfn_layers = nn.ModuleList(pfn_layers)
 
        self.voxel_x = voxel_size[0]
        self.voxel_y = voxel_size[1]
        self.voxel_z = voxel_size[2]
        self.x_offset = self.voxel_x / 2 + point_cloud_range[0]
        self.y_offset = self.voxel_y / 2 + point_cloud_range[1]
        self.z_offset = self.voxel_z / 2 + point_cloud_range[2]
 
    def get_output_feature_dim(self):
        return self.num_filters[-1]
 
    def get_paddings_indicator(self, actual_num, max_num, axis=0):
        """
        计算padding的指示
        Args:
            actual_num:每个voxel实际点的数量（M，）
            max_num:voxel最大点的数量（32，）
        Returns:
            paddings_indicator:表明一个pillar中哪些是真实数据，哪些是填充的0数据
        """
        # 扩展一个维度，使变为（M，1）
        actual_num = torch.unsqueeze(actual_num, axis + 1)
        # [1, 1]
        max_num_shape = [1] * len(actual_num.shape)
        # [1, -1]
        max_num_shape[axis + 1] = -1
        # (1,32)
        max_num = torch.arange(max_num, dtype=torch.int, device=actual_num.device).view(max_num_shape)
        # (M, 32)
        paddings_indicator = actual_num.int() > max_num
        return paddings_indicator
 
    def forward(self, batch_dict, **kwargs):
        """
        batch_dict:
            points:(N,5) --> (batch_index,x,y,z,r) batch_index代表了该点云数据在当前batch中的index
            frame_id:(4,) --> (003877,001908,006616,005355) 帧ID
            gt_boxes:(4,40,8)--> (x,y,z,dx,dy,dz,ry,class)
            use_lead_xyz:(4,) --> (1,1,1,1)
            voxels:(M,32,4) --> (x,y,z,r)
            voxel_coords:(M,4) --> (batch_index,z,y,x) batch_index代表了该点云数据在当前batch中的index
            voxel_num_points:(M,)
            image_shape:(4,2) 每份点云数据对应的2号相机图片分辨率
            batch_size:4    batch_size大小
        """
        voxel_features, voxel_num_points, coords = batch_dict['voxels'], batch_dict['voxel_num_points'], batch_dict[
            'voxel_coords']
        # 求每个pillar中所有点云的和 (M, 32, 3)->(M, 1, 3) 设置keepdim=True的，则保留原来的维度信息
        # 然后在使用求和信息除以每个点云中有多少个点来求每个pillar中所有点云的平均值 points_mean shape：(M, 1, 3)
        points_mean = voxel_features[:, :, :3].sum(dim=1, keepdim=True) / voxel_num_points.type_as(voxel_features).view(
            -1, 1, 1)
        # 每个点云数据减去该点对应pillar的平均值得到差值 xc,yc,zc
        f_cluster = voxel_features[:, :, :3] - points_mean
 
        # 创建每个点云到该pillar的坐标中心点偏移量空数据 xp,yp,zp
        f_center = torch.zeros_like(voxel_features[:, :, :3])
        #  coords是每个网格点的坐标，即[432, 496, 1]，需要乘以每个pillar的长宽得到点云数据中实际的长宽（单位米）
        #  同时为了获得每个pillar的中心点坐标，还需要加上每个pillar长宽的一半得到中心点坐标
        #  每个点的x、y、z减去对应pillar的坐标中心点，得到每个点到该点中心点的偏移量
        f_center[:, :, 0] = voxel_features[:, :, 0] - (
                coords[:, 3].to(voxel_features.dtype).unsqueeze(1) * self.voxel_x + self.x_offset)
        f_center[:, :, 1] = voxel_features[:, :, 1] - (
                coords[:, 2].to(voxel_features.dtype).unsqueeze(1) * self.voxel_y + self.y_offset)
        # 此处偏移多了z轴偏移  论文中没有z轴偏移
        f_center[:, :, 2] = voxel_features[:, :, 2] - (
                coords[:, 1].to(voxel_features.dtype).unsqueeze(1) * self.voxel_z + self.z_offset)
 
        # 如果使用绝对坐标，直接组合
        if self.use_absolute_xyz:
            features = [voxel_features, f_cluster, f_center]
        # 否则，取voxel_features的3维之后，在组合
        else:
            features = [voxel_features[..., 3:], f_cluster, f_center]
 
        # 如果使用距离信息
        if self.with_distance:
            # torch.norm的第一个2指的是求2范数，第二个2是在第三维度求范数
            points_dist = torch.norm(voxel_features[:, :, :3], 2, 2, keepdim=True)
            features.append(points_dist)
        # 将特征在最后一维度拼接 得到维度为（M，32,10）的张量
        features = torch.cat(features, dim=-1)
        # 每个pillar中点云的最大数量
        voxel_count = features.shape[1]
        """
        由于在生成每个pillar中，不满足最大32个点的pillar会存在由0填充的数据，
        而刚才上面的计算中，会导致这些
        由0填充的数据在计算出现xc,yc,zc和xp,yp,zp出现数值，
        所以需要将这个被填充的数据的这些数值清0,
        因此使用get_paddings_indicator计算features中哪些是需要被保留真实数据和需要被置0的填充数据
        """
        # 得到mask维度是（M， 32）
        # mask中指名了每个pillar中哪些是需要被保留的数据
        mask = self.get_paddings_indicator(voxel_num_points, voxel_count, axis=0)
        # （M， 32）->(M, 32, 1)
        mask = torch.unsqueeze(mask, -1).type_as(voxel_features)
        # 将feature中被填充数据的所有特征置0
        features *= mask
 
        for pfn in self.pfn_layers:
            features = pfn(features)
        # (M, 64), 每个pillar抽象出一个64维特征
        features = features.squeeze()
        batch_dict['pillar_features'] = features
        return batch_dict

将M个pillar放回到原来坐标分布中形成伪图像pcdet/models/backbones_2d/map_to_bev/pointpillar_scatter.py

import torch
import torch.nn as nn
 
 
class PointPillarScatter(nn.Module):
    """
       对应到论文中就是stacked pillars，将生成的pillar按照坐标索引还原到原空间中
    """
 
    def __init__(self, model_cfg, grid_size, **kwargs):
        super().__init__()
 
        self.model_cfg = model_cfg
        self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES  # 64
        self.nx, self.ny, self.nz = grid_size  # [432,496,1]
        assert self.nz == 1
 
    def forward(self, batch_dict, **kwargs):
        """
       Args:
           pillar_features:(M,64)
           coords:(M, 4) 第一维是batch_index 其余维度为xyz
       Returns:
           batch_spatial_features:(batch_size, 64, 496, 432)
       """
        # 拿到经过前面pointnet处理过后的pillar数据和每个pillar所在点云中的坐标位置
        # pillar_features 维度 （M， 64）
        # coords 维度 （M， 4）
        pillar_features, coords = batch_dict['pillar_features'], batch_dict['voxel_coords']
 
        # 将转换成为伪图像的数据存在到该列表中
        batch_spatial_features = []
        batch_size = coords[:, 0].max().int().item() + 1
 
        # batch中的每个数据独立处理
        for batch_idx in range(batch_size):
            # 创建一个空间坐标所有用来接受pillar中的数据
            # self.num_bev_features是64
            # self.nz * self.nx * self.ny是生成的空间坐标索引 [496, 432, 1]的乘积
            # spatial_feature 维度 (64,214272)
            spatial_feature = torch.zeros(
                self.num_bev_features,
                self.nz * self.nx * self.ny,
                dtype=pillar_features.dtype,
                device=pillar_features.device)  # (64,214272)-->1x432x496=214272
 
            # 从coords[:, 0]取出该batch_idx的数据mask
            batch_mask = coords[:, 0] == batch_idx
            # 根据mask提取坐标
            this_coords = coords[batch_mask, :]
            # this_coords中存储的坐标是z,y和x的形式,且只有一层，因此计算索引的方式如下
            # 平铺后需要计算前面有多少个pillar 一直到当前pillar的索引
            """
            因为前面是将所有数据flatten成一维的了，相当于一个图片宽高为[496, 432]的图片
            被flatten成一维的图片数据了，变成了496*432=214272;
            而this_coords中存储的是平面（不需要考虑Z轴）中一个点的信息，所以要
            将这个点的位置放回被flatten的一位数据时，需要计算在该点之前所有行的点总和加上
            该点所在的列即可
            """
            # 这里得到所有非空pillar在伪图像的对应索引位置
            indices = this_coords[:, 1] + this_coords[:, 2] * self.nx + this_coords[:, 3]
            # 转换数据类型
            indices = indices.type(torch.long)
            # 根据mask提取pillar_features
            pillars = pillar_features[batch_mask, :]
            pillars = pillars.t()
            # 在索引位置填充pillars
            spatial_feature[:, indices] = pillars
            # 将空间特征加入list,每个元素为(64, 214272)
            batch_spatial_features.append(spatial_feature)
 
        # 在第0个维度将所有的数据堆叠在一起
        batch_spatial_features = torch.stack(batch_spatial_features, 0)
        # reshape回原空间(伪图像)    （4, 64, 214272）--> (4, 64, 496, 432)
        batch_spatial_features = batch_spatial_features.view(batch_size, self.num_bev_features * self.nz, self.ny,
                                                             self.nx)
        # 将结果加入batch_dict
        batch_dict['spatial_features'] = batch_spatial_features
        return batch_dict

5.2 2D CNN

得到伪图像特征（batch_size,64,432,496）,使用FPN网络，进行多尺度特征提取和融合，三次上采样后得到（batch_size,128,248,216）,拼接得到（batch_size,384,248,216）

pcdet/models/backbones_2d/base_bev_backbone.py

import numpy as np
import torch
import torch.nn as nn
 
 
class BaseBEVBackbone(nn.Module):
    def __init__(self, model_cfg, input_channels):
        super().__init__()
        self.model_cfg = model_cfg
        # 读取下采样层参数
        if self.model_cfg.get('LAYER_NUMS', None) is not None:
            assert len(self.model_cfg.LAYER_NUMS) == len(self.model_cfg.LAYER_STRIDES) == len(
                self.model_cfg.NUM_FILTERS)
            layer_nums = self.model_cfg.LAYER_NUMS
            layer_strides = self.model_cfg.LAYER_STRIDES
            num_filters = self.model_cfg.NUM_FILTERS
        else:
            layer_nums = layer_strides = num_filters = []
        # 读取上采样层参数
        if self.model_cfg.get('UPSAMPLE_STRIDES', None) is not None:
            assert len(self.model_cfg.UPSAMPLE_STRIDES) == len(self.model_cfg.NUM_UPSAMPLE_FILTERS)
            num_upsample_filters = self.model_cfg.NUM_UPSAMPLE_FILTERS
            upsample_strides = self.model_cfg.UPSAMPLE_STRIDES
        else:
            upsample_strides = num_upsample_filters = []
 
        num_levels = len(layer_nums)  # 2
        c_in_list = [input_channels, *num_filters[:-1]]  # (256, 128) input_channels:256, num_filters[:-1]：64,128
        self.blocks = nn.ModuleList()
        self.deblocks = nn.ModuleList()
        for idx in range(num_levels):  # (64,64)-->(64,128)-->(128,256) # 这里为cur_layers的第一层且stride=2
            cur_layers = [
                nn.ZeroPad2d(1),
                nn.Conv2d(
                    c_in_list[idx], num_filters[idx], kernel_size=3,
                    stride=layer_strides[idx], padding=0, bias=False
                ),
                nn.BatchNorm2d(num_filters[idx], eps=1e-3, momentum=0.01),
                nn.ReLU()
            ]
            for k in range(layer_nums[idx]):  # 根据layer_nums堆叠卷积层
                cur_layers.extend([
                    nn.Conv2d(num_filters[idx], num_filters[idx], kernel_size=3, padding=1, bias=False),
                    nn.BatchNorm2d(num_filters[idx], eps=1e-3, momentum=0.01),
                    nn.ReLU()
                ])
            # 在block中添加该层
            # *作用是：将列表解开成几个独立的参数，传入函数 # 类似的运算符还有两个星号(**)，是将字典解开成独立的元素作为形参
            self.blocks.append(nn.Sequential(*cur_layers))
            if len(upsample_strides) > 0:  # 构造上采样层  # (1, 2, 4)
                stride = upsample_strides[idx]
                if stride >= 1:
                    self.deblocks.append(nn.Sequential(
                        nn.ConvTranspose2d(
                            num_filters[idx], num_upsample_filters[idx],
                            upsample_strides[idx],
                            stride=upsample_strides[idx], bias=False
                        ),
                        nn.BatchNorm2d(num_upsample_filters[idx], eps=1e-3, momentum=0.01),
                        nn.ReLU()
                    ))
                else:
                    stride = np.round(1 / stride).astype(np.int)
                    self.deblocks.append(nn.Sequential(
                        nn.Conv2d(
                            num_filters[idx], num_upsample_filters[idx],
                            stride,
                            stride=stride, bias=False
                        ),
                        nn.BatchNorm2d(num_upsample_filters[idx], eps=1e-3, momentum=0.01),
                        nn.ReLU()
                    ))
 
        c_in = sum(num_upsample_filters)  # 512
        if len(upsample_strides) > num_levels:
            self.deblocks.append(nn.Sequential(
                nn.ConvTranspose2d(c_in, c_in, upsample_strides[-1], stride=upsample_strides[-1], bias=False),
                nn.BatchNorm2d(c_in, eps=1e-3, momentum=0.01),
                nn.ReLU(),
            ))
 
        self.num_bev_features = c_in
 
    def forward(self, data_dict):
        """
        Args:
            data_dict:
                spatial_features : (4, 64, 496, 432)
        Returns:
        """
        spatial_features = data_dict['spatial_features']
        ups = []
        ret_dict = {}
        x = spatial_features
        for i in range(len(self.blocks)):
            x = self.blocks[i](x)
 
            stride = int(spatial_features.shape[2] / x.shape[2])
            ret_dict['spatial_features_%dx' % stride] = x
            if len(self.deblocks) > 0:  # (4,64,248,216)-->(4,128,124,108)-->(4,256,62,54)
                ups.append(self.deblocks[i](x))
            else:
                ups.append(x)
 
        # 如果存在上采样层，将上采样结果连接
        if len(ups) > 1:
            """
            最终经过所有上采样层得到的3个尺度的的信息
            每个尺度的 shape 都是 （batch_size, 128, 248, 216）
            在第一个维度上进行拼接得到x  维度是 （batch_size, 384, 248, 216）
            """
            x = torch.cat(ups, dim=1)
        elif len(ups) == 1:
            x = ups[0]
        
        # Fasle
        if len(self.deblocks) > len(self.blocks):
            x = self.deblocks[-1](x)
            
        # 将结果存储在spatial_features_2d中并返回
        data_dict['spatial_features_2d'] = x
 
        return data_dict

5.3 SSD检测头

先验框的设计上，一共有三个类别的先验框，每个类别有一个尺度两个角度的先验框。

pcdet/models/dense_heads/anchor_head_single.py

import numpy as np
import torch.nn as nn
 
from .anchor_head_template import AnchorHeadTemplate
 
 
class AnchorHeadSingle(AnchorHeadTemplate):
    """
    Args:
        model_cfg: AnchorHeadSingle的配置
        input_channels: 384 输入通道数
        num_class: 3
        class_names: ['Car','Pedestrian','Cyclist']
        grid_size: (432, 496, 1)
        point_cloud_range: (0, -39.68, -3, 69.12, 39.68, 1)
        predict_boxes_when_training: False
    """
 
    def __init__(self, model_cfg, input_channels, num_class, class_names, grid_size, point_cloud_range,
                 predict_boxes_when_training=True, **kwargs):
        super().__init__(
            model_cfg=model_cfg, num_class=num_class, class_names=class_names, grid_size=grid_size,
            point_cloud_range=point_cloud_range,
            predict_boxes_when_training=predict_boxes_when_training
        )
        # 每个点有3个尺度的个先验框  每个先验框都有两个方向（0度，90度） num_anchors_per_location:[2, 2, 2]
        self.num_anchors_per_location = sum(self.num_anchors_per_location)  # sum([2, 2, 2])
        # Conv2d(512,18,kernel_size=(1,1),stride=(1,1))
        self.conv_cls = nn.Conv2d(
            input_channels, self.num_anchors_per_location * self.num_class,
            kernel_size=1
        )
        # Conv2d(512,42,kernel_size=(1,1),stride=(1,1))
        self.conv_box = nn.Conv2d(
            input_channels, self.num_anchors_per_location * self.box_coder.code_size,
            kernel_size=1
        )
        # 如果存在方向损失，则添加方向卷积层Conv2d(512,12,kernel_size=(1,1),stride=(1,1))
        if self.model_cfg.get('USE_DIRECTION_CLASSIFIER', None) is not None:
            self.conv_dir_cls = nn.Conv2d(
                input_channels,
                self.num_anchors_per_location * self.model_cfg.NUM_DIR_BINS,
                kernel_size=1
            )
        else:
            self.conv_dir_cls = None
        self.init_weights()
 
    # 初始化参数
    def init_weights(self):
        pi = 0.01
        # 初始化分类卷积偏置
        nn.init.constant_(self.conv_cls.bias, -np.log((1 - pi) / pi))
        # 初始化分类卷积权重
        nn.init.normal_(self.conv_box.weight, mean=0, std=0.001)
 
    def forward(self, data_dict):
        # 从字典中取出经过backbone处理过的信息
        # spatial_features_2d 维度 （batch_size, 384, 248, 216）
        spatial_features_2d = data_dict['spatial_features_2d']
        # 每个坐标点上面6个先验框的类别预测 --> (batch_size, 18, 200, 176)
        cls_preds = self.conv_cls(spatial_features_2d)
        # 每个坐标点上面6个先验框的参数预测 --> (batch_size, 42, 200, 176)  其中每个先验框需要预测7个参数，分别是（x, y, z, w, l, h, θ）
        box_preds = self.conv_box(spatial_features_2d)
        # 维度调整，将类别放置在最后一维度   [N, H, W, C] --> (batch_size, 200, 176, 18)
        cls_preds = cls_preds.permute(0, 2, 3, 1).contiguous()
        # 维度调整，将先验框调整参数放置在最后一维度   [N, H, W, C] --> (batch_size ,200, 176, 42)
        box_preds = box_preds.permute(0, 2, 3, 1).contiguous()
        # 将类别和先验框调整预测结果放入前向传播字典中
        self.forward_ret_dict['cls_preds'] = cls_preds
        self.forward_ret_dict['box_preds'] = box_preds
        # 进行方向分类预测
        if self.conv_dir_cls is not None:
            # # 每个先验框都要预测为两个方向中的其中一个方向 --> (batch_size, 12, 200, 176)
            dir_cls_preds = self.conv_dir_cls(spatial_features_2d)
            # 将类别和先验框方向预测结果放到最后一个维度中   [N, H, W, C] --> (batch_size, 248, 216, 12)
            dir_cls_preds = dir_cls_preds.permute(0, 2, 3, 1).contiguous()
            # 将方向预测结果放入前向传播字典中
            self.forward_ret_dict['dir_cls_preds'] = dir_cls_preds
        else:
            dir_cls_preds = None
 
        """
        如果是在训练模式的时候，需要对每个先验框分配GT来计算loss
        """
        if self.training:
            # targets_dict = {
            #     'box_cls_labels': cls_labels, # (4，211200）
            #     'box_reg_targets': bbox_targets, # (4，211200, 7）
            #     'reg_weights': reg_weights # (4，211200）
            # }
            targets_dict = self.assign_targets(
                gt_boxes=data_dict['gt_boxes']  # （4，39，8）
            )
            # 将GT分配结果放入前向传播字典中
            self.forward_ret_dict.update(targets_dict)
 
        # 如果不是训练模式，则直接生成进行box的预测
        if not self.training or self.predict_boxes_when_training:
            # 根据预测结果解码生成最终结果
            batch_cls_preds, batch_box_preds = self.generate_predicted_boxes(
                batch_size=data_dict['batch_size'],
                cls_preds=cls_preds, box_preds=box_preds, dir_cls_preds=dir_cls_preds
            )
            data_dict['batch_cls_preds'] = batch_cls_preds  # (1, 211200, 3) 70400*3=211200
            data_dict['batch_box_preds'] = batch_box_preds  # (1, 211200, 7)
            data_dict['cls_preds_normalized'] = False
 
        return data_dict