[Fix] Fix UT of Seg TTA & p2v_map bug when gt is none (#2466)

* fix p2v_map when no gt & unit name

* fix gt bug

* fix max_voxels

configs/_base_/models/minkunet.py

@@ -9,15 +9,14 @@
  point_cloud_range=[-100, -100, -20, 100, 100, 20],
  voxel_size=[0.05, 0.05, 0.05],
  max_voxels=(-1, -1)),
- ),
+  max_voxels=80000),
  backbone=dict(
  type='MinkUNetBackbone',
  in_channels=4,
  base_channels=32,
- encoder_channels=[32, 64, 128, 256],
- decoder_channels=[256, 128, 96, 96],
  num_stages=4,
- init_cfg=None),
+ encoder_channels=[32, 64, 128, 256],
+ decoder_channels=[256, 128, 96, 96]),
  decode_head=dict(
  type='MinkUNetHead',
  channels=96,

configs/_base_/models/spvcnn.py

@@ -9,14 +9,14 @@
  point_cloud_range=[-100, -100, -20, 100, 100, 20],
  voxel_size=[0.05, 0.05, 0.05],
  max_voxels=(-1, -1)),
- ),
+  max_voxels=80000),
  backbone=dict(
  type='SPVCNNBackbone',
  in_channels=4,
  base_channels=32,
+ num_stages=4,
  encoder_channels=[32, 64, 128, 256],
  decoder_channels=[256, 128, 96, 96],
- num_stages=4,
  drop_ratio=0.3),
  decode_head=dict(
  type='MinkUNetHead',

mmdet3d/models/data_preprocessors/data_preprocessor.py

@@ -49,6 +49,8 @@ class Det3DDataPreprocessor(DetDataPreprocessor):
  voxelization and dynamic voxelization. Defaults to 'hard'.
  voxel_layer (dict or :obj:`ConfigDict`, optional): Voxelization layer
  config. Defaults to None.
+ max_voxels (int): Maximum number of voxels in each voxel grid. Defaults
+ to None.
  mean (Sequence[Number], optional): The pixel mean of R, G, B channels.
  Defaults to None.
  std (Sequence[Number], optional): The pixel standard deviation of
@@ -77,6 +79,7 @@ def __init__(self,
  voxel: bool = False,
  voxel_type: str = 'hard',
  voxel_layer: OptConfigType = None,
+ max_voxels: Optional[int] = None,
  mean: Sequence[Number] = None,
  std: Sequence[Number] = None,
  pad_size_divisor: int = 1,
@@ -103,6 +106,7 @@ def __init__(self,
  batch_augments=batch_augments)
  self.voxel = voxel
  self.voxel_type = voxel_type
+ self.max_voxels = max_voxels
  if voxel:
  self.voxel_layer = VoxelizationByGridShape(**voxel_layer)
 
@@ -423,20 +427,22 @@ def voxelize(self, points: List[torch.Tensor],
  res_coors -= res_coors.min(0)[0]
 
  res_coors_numpy = res_coors.cpu().numpy()
- inds, voxel2point_map = self.sparse_quantize(
+ inds, point2voxel_map = self.sparse_quantize(
  res_coors_numpy, return_index=True, return_inverse=True)
- voxel2point_map = torch.from_numpy(voxel2point_map).cuda()
- if self.training:
- if len(inds) > 80000:
- inds = np.random.choice(inds, 80000, replace=False)
+ point2voxel_map = torch.from_numpy(point2voxel_map).cuda()
+ if self.training and self.max_voxels is not None:
+ if len(inds) > self.max_voxels:
+ inds = np.random.choice(
+ inds, self.max_voxels, replace=False)
  inds = torch.from_numpy(inds).cuda()
- data_sample.gt_pts_seg.voxel_semantic_mask \
- = data_sample.gt_pts_seg.pts_semantic_mask[inds]
+ if hasattr(data_sample.gt_pts_seg, 'pts_semantic_mask'):
+ data_sample.gt_pts_seg.voxel_semantic_mask \
+ = data_sample.gt_pts_seg.pts_semantic_mask[inds]
  res_voxel_coors = res_coors[inds]
  res_voxels = res[inds]
  res_voxel_coors = F.pad(
  res_voxel_coors, (0, 1), mode='constant', value=i)
- data_sample.voxel2point_map = voxel2point_map.long()
+ data_sample.point2voxel_map = point2voxel_map.long()
  voxels.append(res_voxels)
  coors.append(res_voxel_coors)
  voxels = torch.cat(voxels, dim=0)
@@ -466,12 +472,12 @@ def get_voxel_seg(self, res_coors: torch.Tensor, data_sample: SampleList):
  True)
  voxel_semantic_mask = torch.argmax(voxel_semantic_mask, dim=-1)
  data_sample.gt_pts_seg.voxel_semantic_mask = voxel_semantic_mask
- data_sample.gt_pts_seg.point2voxel_map = point2voxel_map
+ data_sample.point2voxel_map = point2voxel_map
  else:
  pseudo_tensor = res_coors.new_ones([res_coors.shape[0], 1]).float()
  _, _, point2voxel_map = dynamic_scatter_3d(pseudo_tensor,
  res_coors, 'mean', True)
- data_sample.gt_pts_seg.point2voxel_map = point2voxel_map
+ data_sample.point2voxel_map = point2voxel_map
 
  def ravel_hash(self, x: np.ndarray) -> np.ndarray:
  """Get voxel coordinates hash for np.unique().

mmdet3d/models/decode_heads/cylinder3d_head.py

@@ -151,7 +151,7 @@ def predict(
  for batch_idx in range(len(batch_data_samples)):
  seg_logits_sample = seg_logits[coors[:, 0] == batch_idx]
  point2voxel_map = batch_data_samples[
- batch_idx].gt_pts_seg.point2voxel_map.long()
+ batch_idx].point2voxel_map.long()
  point_seg_predicts = seg_logits_sample[point2voxel_map]
  seg_pred_list.append(point_seg_predicts)
 

mmdet3d/models/decode_heads/minkunet_head.py

@@ -61,7 +61,7 @@ def predict(self, inputs: SparseTensor,
  seg_logit_list = []
  for i, data_sample in enumerate(batch_data_samples):
  seg_logit = seg_logits[batch_idx == i]
- seg_logit = seg_logit[data_sample.voxel2point_map]
+ seg_logit = seg_logit[data_sample.point2voxel_map]
  seg_logit_list.append(seg_logit)
 
  return seg_logit_list

tests/test_models/test_decode_heads/test_cylinder3d_head.py

@@ -60,8 +60,7 @@ def test_cylinder3d_head_loss(self):
  self.assertGreater(loss_lovasz, 0, 'lovasz loss should be positive')
 
  batch_inputs_dict = dict(voxels=dict(voxel_coors=coors))
- datasample.gt_pts_seg.point2voxel_map = torch.randint(
- 0, 50, (100, )).int().cuda()
+ datasample.point2voxel_map = torch.randint(0, 50, (100, )).int().cuda()
  point_logits = cylinder3d_head.predict(sparse_voxels,
  batch_inputs_dict, [datasample])
  assert point_logits[0].shape == torch.Size([100, 20])

tests/test_models/test_segmentors/test_seg3d_tta_model.py

@@ -36,5 +36,5 @@ def test_seg3d_tta_model(self):
  pcd_vertical_flip=pcd_vertical_flip_list[i]))
  ])
  if torch.cuda.is_available():
- model.eval()
+ model.eval().cuda()
  model.test_step(dict(inputs=points, data_samples=data_samples))