【BEV】学习笔记之FastBEV(原理+代码注释)

Rex久居

已于 2023-11-17 21:55:09 修改

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文章标签：学习深度学习 python

于 2023-02-23 21:11:40 首次发布

本文链接：https://blog.csdn.net/weixin_42108183/article/details/129190315

版权

1、前言

BEV模型部署一直是难以解决的问题，在车载芯片上运行要占用大量计算资源，为此FastBEV的作者提出了更加轻量级的方法，不需要transformer来提取BEV特征，仅使用卷积网络来完成，简单而有效。本文将会记录学习过程中的一些知识点，包括如果在本地运行、测试、随后对代码进行注释，便于进一步了解FastBEV的结构。
BEV交流群，会有许多智驾内推机会，v群:Rex1586662742、q群:468713665。

2、本地训练测试

2.1、数据集制作

原作者训练的数据为完整的nuscences数据集，项目里面提供的pkl文件对应真个nuscences数据集，而对于个人学习来说，一般只能使用mini数据集。因为就需要生成mini数据集的okl文件，这部分原项目没有提及，因此也是花了很多时间来解决这个问题，感谢原作者的耐心回答。生成mini数据的pkl可以参考以下步骤:

利用BEVFormer项目生成 nuscenes_infos_temporal_train.pkl 、…test.pkl、 …vak.pkl
BEVFormer下的数据集剪切到FastBEV下面，并l重命名为nuscenes_infos_train.pkl、nuscenes_infos_val.pkl、nuscenes_infos_test.pkl
运行tools/data_converter/nuscenes_seq_converter.py生成训练所需要的nuscenes_infos_train_4d_interval3_max60.pkl、…val_4d_interval3_max60.pkl…文件。

目前只找到这个方法，如果有大佬知道更简洁的方法，可以指出。按照上面的方法就可以得到训练和测试mini数据集，本文也提供百度云链接:https://pan.baidu.com/s/1FGvYLqShz8VzWs6syq8uUw?pwd=qgpw 提取码: qgpw

2.2、训练

如果直接按照项目里面的命令进行训练，很有可能报各种错误，只要还是本地环境和作者环境有较大的差异，因此需要修改一些参数来方便训练。本文训练的选择的配置参数为configs/fastbev/exp/paper/fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f4.py,需要修改如下内容:

# 取消注释
file_client_args = dict(backend="disk")
并注释下面
# file_client_args = dict(
#     backend='petrel',
#     path_mapping=dict({
#         data_root: 'public-1424:s3://openmmlab/datasets/detection3d/nuscenes/'}))

然后需要将里面的"SyncBN" 全部修改为 “BN”，优化器的"Adam2" 参数修改为"Adam"！！！！不然会报错

由于原作者使用 bash tools/trian/fastbev_run.sh的方式进行训练和测试，通过会发现很多条件不满足，因此就想着直接使用python tools.train.py的方式进行训练，需要修改的参数为:

    parser.add_argument(
        "--config",
        default="configs/fastbev/exp/paper/fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f4.py",
        help="train config file path",
    )
     parser.add_argument(
        "--work-dir", default="work_dir", help="the dir to save logs and models"
    )
    group_gpus.add_argument(
        "--gpu-ids",
        type=int,
        default=[0],
        help="ids of gpus to use " "(only applicable to non-distributed training)",
    )

修改完毕之后运行python train.py即可运行

3、FastBEV原理简介

FastBEV有如下特点:

时序融合，能够解决遮挡等问题，是目前主流的BEV特征提取方式，参考BEVFormer
数据增强，能够在图片以及BEV空间进行数据增强，得益于显示的BEV特征，参考BEVDet
Fast-Ray变换，假设沿光线的深度分布是均匀的，这意味着沿摄影头光线的所有体素都填充了和2D空间中单个像素对应相同的特征，可以极大缩减生成BEV特征的时间，参考M2BEV
高效BEV编码器,适用于车载芯片的部署

网络结构如下图所示:
在这里插入图片描述

通过特征提取获得多尺度特征层
将每个视角的2D特征转移到统一的体素空间
多帧融合
图像以及BEV特征的数据增强

4、训练代码解析

1、mmdet3d/models/detectors/fastbev.py

class FastBEV(BaseDetector):
    def __init__():
        ...
        
    def forward_train(...):
        feature_bev, valids, features_2d = self.extract_feat(img, img_metas, "train")  # 提取BEV特征
        
        if self.bbox_head is not None:
            x = self.bbox_head(feature_bev)  # 解码头  -> mmdet3d/models/dense_heads/anchor3d_head.py
            loss_det = self.bbox_head.loss(*x, gt_bboxes_3d, gt_labels_3d, img_metas) # 计算损失  -> mmdet3d/models/dense_heads/free_anchor3d_head.py
    
    def extract_feat(self, img, img_metas, mode)
        """
        args:
            img:[1, 24, 3, 256, 704]  -> [1, 4*6, 3, 256, 704] 取4帧的环视图片，用于时序融合
        """
        x = self.backbone(x)  #提取图片多尺度特征   [24,64,64,176] [24,128,32,88] [24,256,16,44]  [24,512,8,22]
        # 多尺度特征融合
        def _inner_forward(x):
            out = self.neck(x)
            return out  #  # [24, 64, 64, 176]; [24, 64, 32, 88]; [24, 64, 16, 44]; [24, 64, 8, 22])
        
        if self.with_cp and x.requires_grad:
            ...
        else:
            mlvl_feats = _inner_forward(x)
        if self.multi_scale_id is not None:
            for msid in self.multi_scale_id:
                if getattr(self, f'neck_fuse_{msid}', None) is not None:
                    fuse_feats = [mlvl_feats[msid]] # [24, 64, 64, 176] 选择最大的特征层
                    for i in range(msid + 1, len(mlvl_feats)):# 遍历其他特征层
                        resized_feat = resize(...) # 将其他特征层缩放到最大的的特征层尺寸
                        fuse_feats.append(resized_feat)
                    if len(fuse_feats) > 1：
                        fuse_feats = torch.cat(fuse_feats, dim=1) #[24, 256, 64, 176] 特征层叠加
                    else:
                        ...
                    fuse_feats = getattr(self, f'neck_fuse_{msid}')(fuse_feats) # 特征融合 [24, 64, 64, 176]
                    mlvl_feats_.append(fuse_feats)
                    
        mlvl_volumes = []
        for lvl, mlvl_feat in enumerate(mlvl_feats):
            stride_i = math.ceil(img.shape[-1] / mlvl_feat.shape[-1]) # 当前特征图与原图之间的比例
            # [bs*seq*nv, c, h, w] -> [bs, seq*nv, c, h, w]
            mlvl_feat = mlvl_feat.reshape([batch_size, -1] + list(mlvl_feat.shape[1:])) #  
            mlvl_feat_split = torch.split(mlvl_feat, 6, dim=1) # [1, 6, 64, 64, 176] * 4  # 4帧环视图片特征
            volume_list = []
            # 遍历4帧环视图片特征
            for seq_id in range(len(mlvl_feat_split)):
                volumes = []
                for batch_id, seq_img_meta in enumerate(img_metas):
                    # 第i帧
                    feat_i = mlvl_feat_split[seq_id][batch_id] 
                    img_meta["lidar2img"]["extrinsic"] = img_meta["lidar2img"]["extrinsic"][seq_id*6:(seq_id+1)*6] # 相机外参
                    # 相机内参@相机外参
                    projection = self._compute_projection(...)
                    if self.style in ['v1', 'v2']:
                        n_voxels, voxel_size = self.n_voxels[0], self.voxel_size[0] # [200,200,4]  [0.5,0.5,1.5]   #体素个数，体素尺寸
                    else:
                        ...
                    # ego坐标下的点云
                    points = get_points(...)
                    # 利用点云和特征层，获得3d的特征表示
                    if self.backproject == 'inplace':
                        volume = backproject_inplace(feat_i[:, :, :height, :width], points, projection)
                    if self.style in ['v1', 'v2']:
                        mlvl_volumes = torch.cat(mlvl_volumes, dim=1)  # [bs, lvl*seq*c, vx, vy, vz]
                    else:
                        ...
                    def _inner_forward(x):
                        out = self.neck_3d(x)
                    return out
                if self.with_cp and x.requires_grad:
                    x = cp.checkpoint(_inner_forward, x)
                else:
                    x = _inner_forward(x)  #  [1, 256, 200, 200, 4] ->  [1, 192, 100, 100]  fusion  BEV encode
                    return x, None, features_2d
                    
    def _compute_projection(img_meta, stride, noise=0):
        # 相机内参
        intrinsic = torch.tensor(img_meta["lidar2img"]["intrinsic"][:3, :3])
        intrinsic[:2] /= stride  # 图片缩放系数
        for extrinsic in extrinsics:
            if noise > 0:
                ...
            else:
                projection.append(intrinsic @ extrinsic[:3])  # 内参@外参
        return torch.stack(projection)
        
    def get_points(n_voxels, voxel_size, origin):
        points = torch.stack(...)
        points = points * ...  # [3, 200, 200, 4] #每个体素代表的真实距离 
        return points  
        
def backproject_inplace(...):
    '''
    function: 2d feature + predefined point cloud -> 3d volume
    input:
        features: [6, 64, 64, 176]
        points: [3, 200, 200, 4]
        projection: [6, 3, 4]
    output:
        volume: [64, 200, 200, 4]  # 将2d特征与3d point cloud 结合
    '''
    n_images, n_channels, height, width = features.shape  # [6, 64, 64, 176]
    n_x_voxels, n_y_voxels, n_z_voxels = points.shape[-3:]  # [200, 200, 4]  ，每个相机对应的 200 * 200 * 4 的点云
    points = points.view(1, 3, -1).expand(n_images, 3, -1)  # 6个相机 * 点云
    points = torch.cat((points, torch.ones_like(points[:, :1])), dim=1)  # x,y,z,1 齐次坐标
    # 3d 转 2d [6, 3, 160000]  每个点云在相机上的坐标
    points_2d_3 = torch.bmm(projection, points)
    
    valid = ... # 点云投影在像素坐标系后，提取在图片范围内的特征点
    volume = torch.zeros(...) # [64,160000]  1600000个特征点，每个特征点的特征维度为64
    for i in range(n_images): # 遍历当前帧的的环视图片
        # 提取有效特征
        volume[:, valid[i]] = features[i, :, y[i, valid[i]], x[i, valid[i]]]

2、mmdet3d/models/dense_heads/anchor3d_head.py

class Anchor3DHead(...):
    def __init__(...):
        ...
    
    def forward_single(...):
        cls_score = self.conv_cls(x)  # [1, 80, 100, 100]  # 预测分类分支 
        bbox_pred = self.conv_reg(x)  # [1, 72, 100, 100]   # 预测框分支
        if self.use_direction_classifier:
            dir_cls_preds = self.conv_dir_cls(x)  # 方向分支

3、mmdet3d/models/dense_heads/free_anchor3d_head.py

        """Calculate loss of FreeAnchor head.
        Args:
            cls_scores (list[torch.Tensor]): Classification scores of
                different samples.
            bbox_preds (list[torch.Tensor]): Box predictions of
                different samples
            dir_cls_preds (list[torch.Tensor]): Direction predictions of
                different samples
            gt_bboxes (list[:obj:`BaseInstance3DBoxes`]): Ground truth boxes.
            gt_labels (list[torch.Tensor]): Ground truth labels.
            input_metas (list[dict]): List of input meta information.
            gt_bboxes_ignore (list[:obj:`BaseInstance3DBoxes`], optional):
                Ground truth boxes that should be ignored. Defaults to None.

        Returns:
            dict[str, torch.Tensor]: Loss items.

                - positive_bag_loss (torch.Tensor): Loss of positive samples.
                - negative_bag_loss (torch.Tensor): Loss of negative samples.
        """
        # 10个类别
        
        anchors = ... # [80000, 9]为每个特征点生成 8个锚框，共4个尺度，每个尺度两种锚框
        cls_scores = ... #[1, 80000, 10] 为每个特征点的8个anchor预测类别
        bbox_preds = torch.cat(bbox_preds, dim=1)  # [1, 80000, 9]  # 为每个特征点的8个anchor预测边界框
        dir_cls_preds = torch.cat(dir_cls_preds, dim=1)  # [1, 80000, 2] 为每个特征点的8个anchor预测方向
        
        for ... in ...:
            gt_bboxes_ = gt_bboxes_.tensor.to(anchors_.device) # 当前帧的GT
            with torch.no_grad():
                pred_boxes = self.bbox_coder.decode(anchors_, bbox_preds_)  # bbox_preds_是预测的偏移量
                object_box_iou = bbox_overlaps_nearest_3d(gt_bboxes_, pred_boxes) # 每个锚框与gt计算一个IOU
                .....
                loss_bbox = self.loss_bbox() # 预测框损失
                
        positive_loss = torch.cat(positive_losses).sum() / max(1, num_pos)  # 正样本损失
        negative_loss = ... # 负样本损失
        return losses