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pcdet/utils/box_coder_utils.py

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+import numpy as np
+import torch
+
+
+class ResidualCoder(object):
+    def __init__(self, code_size=7, encode_angle_by_sincos=False, **kwargs):
+        super().__init__()
+        self.code_size = code_size
+        self.encode_angle_by_sincos = encode_angle_by_sincos
+        if self.encode_angle_by_sincos:
+            self.code_size += 1
+
+    def encode_torch(self, boxes, anchors):
+        """
+        Args:
+            boxes: (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...]
+            anchors: (N, 7 + C) [x, y, z, dx, dy, dz, heading or *[cos, sin], ...]
+
+        Returns:
+
+        """
+        anchors[:, 3:6] = torch.clamp_min(anchors[:, 3:6], min=1e-5)
+        boxes[:, 3:6] = torch.clamp_min(boxes[:, 3:6], min=1e-5)
+
+        xa, ya, za, dxa, dya, dza, ra, *cas = torch.split(anchors, 1, dim=-1)
+        xg, yg, zg, dxg, dyg, dzg, rg, *cgs = torch.split(boxes, 1, dim=-1)
+
+        diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+        xt = (xg - xa) / diagonal
+        yt = (yg - ya) / diagonal
+        zt = (zg - za) / dza
+        dxt = torch.log(dxg / dxa)
+        dyt = torch.log(dyg / dya)
+        dzt = torch.log(dzg / dza)
+        if self.encode_angle_by_sincos:
+            rt_cos = torch.cos(rg) - torch.cos(ra)
+            rt_sin = torch.sin(rg) - torch.sin(ra)
+            rts = [rt_cos, rt_sin]
+        else:
+            rts = [rg - ra]
+
+        cts = [g - a for g, a in zip(cgs, cas)]
+        return torch.cat([xt, yt, zt, dxt, dyt, dzt, *rts, *cts], dim=-1)
+
+    def decode_torch(self, box_encodings, anchors):
+        """
+        Args:
+            box_encodings: (B, N, 7 + C) or (N, 7 + C) [x, y, z, dx, dy, dz, heading or *[cos, sin], ...]
+            anchors: (B, N, 7 + C) or (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...]
+
+        Returns:
+
+        """
+        xa, ya, za, dxa, dya, dza, ra, *cas = torch.split(anchors, 1, dim=-1)
+        if not self.encode_angle_by_sincos:
+            xt, yt, zt, dxt, dyt, dzt, rt, *cts = torch.split(box_encodings, 1, dim=-1)
+        else:
+            xt, yt, zt, dxt, dyt, dzt, cost, sint, *cts = torch.split(box_encodings, 1, dim=-1)
+
+        diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+        xg = xt * diagonal + xa
+        yg = yt * diagonal + ya
+        zg = zt * dza + za
+
+        dxg = torch.exp(dxt) * dxa
+        dyg = torch.exp(dyt) * dya
+        dzg = torch.exp(dzt) * dza
+
+        if self.encode_angle_by_sincos:
+            rg_cos = cost + torch.cos(ra)
+            rg_sin = sint + torch.sin(ra)
+            rg = torch.atan2(rg_sin, rg_cos)
+        else:
+            rg = rt + ra
+
+        cgs = [t + a for t, a in zip(cts, cas)]
+        return torch.cat([xg, yg, zg, dxg, dyg, dzg, rg, *cgs], dim=-1)
+
+
+class PreviousResidualDecoder(object):
+    def __init__(self, code_size=7, **kwargs):
+        super().__init__()
+        self.code_size = code_size
+
+    @staticmethod
+    def decode_torch(box_encodings, anchors):
+        """
+        Args:
+            box_encodings:  (B, N, 7 + ?) x, y, z, w, l, h, r, custom values
+            anchors: (B, N, 7 + C) or (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...]
+
+        Returns:
+
+        """
+        xa, ya, za, dxa, dya, dza, ra, *cas = torch.split(anchors, 1, dim=-1)
+        xt, yt, zt, wt, lt, ht, rt, *cts = torch.split(box_encodings, 1, dim=-1)
+
+        diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+        xg = xt * diagonal + xa
+        yg = yt * diagonal + ya
+        zg = zt * dza + za
+
+        dxg = torch.exp(lt) * dxa
+        dyg = torch.exp(wt) * dya
+        dzg = torch.exp(ht) * dza
+        rg = rt + ra
+
+        cgs = [t + a for t, a in zip(cts, cas)]
+        return torch.cat([xg, yg, zg, dxg, dyg, dzg, rg, *cgs], dim=-1)
+
+
+class PreviousResidualRoIDecoder(object):
+    def __init__(self, code_size=7, **kwargs):
+        super().__init__()
+        self.code_size = code_size
+
+    @staticmethod
+    def decode_torch(box_encodings, anchors):
+        """
+        Args:
+            box_encodings:  (B, N, 7 + ?) x, y, z, w, l, h, r, custom values
+            anchors: (B, N, 7 + C) or (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...]
+
+        Returns:
+
+        """
+        xa, ya, za, dxa, dya, dza, ra, *cas = torch.split(anchors, 1, dim=-1)
+        xt, yt, zt, wt, lt, ht, rt, *cts = torch.split(box_encodings, 1, dim=-1)
+
+        diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+        xg = xt * diagonal + xa
+        yg = yt * diagonal + ya
+        zg = zt * dza + za
+
+        dxg = torch.exp(lt) * dxa
+        dyg = torch.exp(wt) * dya
+        dzg = torch.exp(ht) * dza
+        rg = ra - rt
+
+        cgs = [t + a for t, a in zip(cts, cas)]
+        return torch.cat([xg, yg, zg, dxg, dyg, dzg, rg, *cgs], dim=-1)
+
+
+class PointResidualCoder(object):
+    def __init__(self, code_size=8, use_mean_size=True, **kwargs):
+        super().__init__()
+        self.code_size = code_size
+        self.use_mean_size = use_mean_size
+        if self.use_mean_size:
+            self.mean_size = torch.from_numpy(np.array(kwargs['mean_size'])).cuda().float()
+            assert self.mean_size.min() > 0
+
+    def encode_torch(self, gt_boxes, points, gt_classes=None):
+        """
+        Args:
+            gt_boxes: (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...]
+            points: (N, 3) [x, y, z]
+            gt_classes: (N) [1, num_classes]
+        Returns:
+            box_coding: (N, 8 + C)
+        """
+        gt_boxes[:, 3:6] = torch.clamp_min(gt_boxes[:, 3:6], min=1e-5)
+
+        xg, yg, zg, dxg, dyg, dzg, rg, *cgs = torch.split(gt_boxes, 1, dim=-1)
+        xa, ya, za = torch.split(points, 1, dim=-1)
+
+        if self.use_mean_size:
+            assert gt_classes.max() <= self.mean_size.shape[0]
+            point_anchor_size = self.mean_size[gt_classes - 1]
+            dxa, dya, dza = torch.split(point_anchor_size, 1, dim=-1)
+            diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+            xt = (xg - xa) / diagonal
+            yt = (yg - ya) / diagonal
+            zt = (zg - za) / dza
+            dxt = torch.log(dxg / dxa)
+            dyt = torch.log(dyg / dya)
+            dzt = torch.log(dzg / dza)
+        else:
+            xt = (xg - xa)
+            yt = (yg - ya)
+            zt = (zg - za)
+            dxt = torch.log(dxg)
+            dyt = torch.log(dyg)
+            dzt = torch.log(dzg)
+
+        cts = [g for g in cgs]
+        return torch.cat([xt, yt, zt, dxt, dyt, dzt, torch.cos(rg), torch.sin(rg), *cts], dim=-1)
+
+    def decode_torch(self, box_encodings, points, pred_classes=None):
+        """
+        Args:
+            box_encodings: (N, 8 + C) [x, y, z, dx, dy, dz, cos, sin, ...]
+            points: [x, y, z]
+            pred_classes: (N) [1, num_classes]
+        Returns:
+
+        """
+        xt, yt, zt, dxt, dyt, dzt, cost, sint, *cts = torch.split(box_encodings, 1, dim=-1)
+        xa, ya, za = torch.split(points, 1, dim=-1)
+
+        if self.use_mean_size:
+            assert pred_classes.max() <= self.mean_size.shape[0]
+            point_anchor_size = self.mean_size[pred_classes - 1]
+            dxa, dya, dza = torch.split(point_anchor_size, 1, dim=-1)
+            diagonal = torch.sqrt(dxa ** 2 + dya ** 2)
+            xg = xt * diagonal + xa
+            yg = yt * diagonal + ya
+            zg = zt * dza + za
+
+            dxg = torch.exp(dxt) * dxa
+            dyg = torch.exp(dyt) * dya
+            dzg = torch.exp(dzt) * dza
+        else:
+            xg = xt + xa
+            yg = yt + ya
+            zg = zt + za
+            dxg, dyg, dzg = torch.split(torch.exp(box_encodings[..., 3:6]), 1, dim=-1)
+
+        rg = torch.atan2(sint, cost)
+
+        cgs = [t for t in cts]
+        return torch.cat([xg, yg, zg, dxg, dyg, dzg, rg, *cgs], dim=-1)