forward函数

 def forward(self, batch_dict):
        """
        Args:
            batch_dict:
                batch_size:
                point_features: (N1 + N2 + N3 + ..., C) or (B, N, C)
                point_features_before_fusion: (N1 + N2 + N3 + ..., C)
                point_coords: (N1 + N2 + N3 + ..., 4) [bs_idx, x, y, z]
                point_labels (optional): (N1 + N2 + N3 + ...)
                gt_boxes (optional): (B, M, 8)
        Returns:
            batch_dict:
                point_cls_scores: (N1 + N2 + N3 + ..., 1)
                point_part_offset: (N1 + N2 + N3 + ..., 3)
        """
        if self.model_cfg.get('USE_POINT_FEATURES_BEFORE_FUSION', False):
            point_features = batch_dict['point_features_before_fusion']
        else:
            point_features = batch_dict['point_features']
            #通过全连接层128-->256-->256-->3生成类别信息
        point_cls_preds = self.cls_layers(point_features)  # (total_points, num_class)
        #通过全连接层128-->256-->256-->8生成回归框信息
        point_box_preds = self.box_layers(point_features)  # (total_points, box_code_size)

       #在预测的3个类别中求出最大可能的类别作为标签信息，并经过sigmod函数
        point_cls_preds_max, _ = point_cls_preds.max(dim=-1)
        batch_dict['point_cls_scores'] = torch.sigmoid(point_cls_preds_max)

        ret_dict = {'point_cls_preds': point_cls_preds,
                    'point_box_preds': point_box_preds}
        if self.training:
           #主要是生成每个点对应的真实的标签信息
           #以及真实框G相对于预测G_hat的框的参数偏移，每个点对应是1*8维向量
            targets_dict = self.assign_targets(batch_dict)
            ret_dict['point_cls_labels'] = targets_dict['point_cls_labels']
            ret_dict['point_box_labels'] = targets_dict['point_box_labels']

        if not self.training or self.predict_boxes_when_training:
           #求出每个点对应的预测的标签信息
           #以及P相对于预测的框G_hat的参数偏移，每个点对应是1*8维向量
            point_cls_preds, point_box_preds = self.generate_predicted_boxes(
                points=batch_dict['point_coords'][:, 1:4],
                point_cls_preds=point_cls_preds, point_box_preds=point_box_preds
            )
            batch_dict['batch_cls_preds'] = point_cls_preds
            batch_dict['batch_box_preds'] = point_box_preds
            batch_dict['batch_index'] = batch_dict['point_coords'][:, 0]
            batch_dict['cls_preds_normalized'] = False

        self.forward_ret_dict = ret_dict

        return batch_dict

注意：对于每一个point，point_box_preds是1×8维向量，8维分别表示[xt, yt, zt, dxt, dyt, dzt, cost, sint]，[xt, yt, zt]为中心点偏移量，[dxt, dyt, dzt]为长宽高偏移量，[cost, sint]为角度偏移量。

forward函数得到了每个前景点对应的真实标签值以及标注框信息；（self.assign_targets--------->self.assign_stack_targets-----> self.box_coder.encode_torch调用了PointResidualCoder类中的encode_torch函数）

得到了从G_hat到G的1*8维参数

---

每个前景点对应的预测标签值以及预测框信息；（self.generate_predicted_boxes--------->self.box_coder.decode_torch调用了PointResidualCoder类中的decode_torch函数）

得到了从P到G_hat的1*8维参数

得到这两组参数后用于后续计算损失时计算的box损失，采用的是L1回归损失

 point_loss_box_src = F.smooth_l1_loss(
            point_box_preds[None, ...], point_box_labels[None, ...], weights=reg_weights[None, ...]
        )

边框回归(Bounding Box Regression)详解

PointResidualCoder

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)

decode_torch：如何通过point_box_preds的8维向量得到proposal的7维坐标？将每一个point原始xyz坐标加上坐标偏移量[xt, yt, zt]即可得到proposal中心点坐标，利用作者预设的point_anchor_size乘上长宽高偏移量[dxt, dyt, dzt]得到proposal长宽高，利用atan2函数计算角度heading。

思考：

代码这里的Pw和Py参数直接是用的diagonal

diagonal = torch.sqrt(dxa ** 2 + dya ** 2)

个人的理解是觉得这样可以同时优化生成的anchor大小并且可以调节中心坐标的偏移。

assign_targets

 def assign_targets(self, input_dict):
        """
        Args:
            input_dict:
                point_features: (N1 + N2 + N3 + ..., C)
                batch_size:
                point_coords: (N1 + N2 + N3 + ..., 4) [bs_idx, x, y, z]
                gt_boxes (optional): (B, M, 8)
        Returns:
            point_cls_labels: (N1 + N2 + N3 + ...), long type, 0:background, -1:ignored
            point_part_labels: (N1 + N2 + N3 + ..., 3)
        """
        point_coords = input_dict['point_coords']
        gt_boxes = input_dict['gt_boxes']
        assert gt_boxes.shape.__len__() == 3, 'gt_boxes.shape=%s' % str(gt_boxes.shape)
        assert point_coords.shape.__len__() in [2], 'points.shape=%s' % str(point_coords.shape)

        batch_size = gt_boxes.shape[0]
        extend_gt_boxes = box_utils.enlarge_box3d(
            gt_boxes.view(-1, gt_boxes.shape[-1]), extra_width=self.model_cfg.TARGET_CONFIG.GT_EXTRA_WIDTH
        ).view(batch_size, -1, gt_boxes.shape[-1])
        targets_dict = self.assign_stack_targets(
            points=point_coords, gt_boxes=gt_boxes, extend_gt_boxes=extend_gt_boxes,
            set_ignore_flag=True, use_ball_constraint=False,
            ret_part_labels=False, ret_box_labels=True
        )

        return targets_dict

extend_gt_boxes 主要是将groud truth boxex在长、宽、高方向上扩展

assign_stack_targets

#此函数传入的都是对应点的真实预测值和真实标注框
 def assign_stack_targets(self, points, gt_boxes, extend_gt_boxes=None,
                             ret_box_labels=False, ret_part_labels=False,
                             set_ignore_flag=True, use_ball_constraint=False, central_radius=2.0):
        """
        Args:
            points: (N1 + N2 + N3 + ..., 4) [bs_idx, x, y, z]
            gt_boxes: (B, M, 8)
            extend_gt_boxes: [B, M, 8]
            ret_box_labels:
            ret_part_labels:
            set_ignore_flag:
            use_ball_constraint:
            central_radius:

        Returns:
            point_cls_labels: (N1 + N2 + N3 + ...), long type, 0:background, -1:ignored
            point_box_labels: (N1 + N2 + N3 + ..., code_size)

        """
        assert len(points.shape) == 2 and points.shape[1] == 4, 'points.shape=%s' % str(points.shape)
        assert len(gt_boxes.shape) == 3 and gt_boxes.shape[2] == 8, 'gt_boxes.shape=%s' % str(gt_boxes.shape)
        assert extend_gt_boxes is None or len(extend_gt_boxes.shape) == 3 and extend_gt_boxes.shape[2] == 8, \
            'extend_gt_boxes.shape=%s' % str(extend_gt_boxes.shape)
        assert set_ignore_flag != use_ball_constraint, 'Choose one only!'
        #将数据分批次处理
        batch_size = gt_boxes.shape[0]
        bs_idx = points[:, 0]
        point_cls_labels = points.new_zeros(points.shape[0]).long()
        point_box_labels = gt_boxes.new_zeros((points.shape[0], 8)) if ret_box_labels else None
        point_part_labels = gt_boxes.new_zeros((points.shape[0], 3)) if ret_part_labels else None
        #将数据分批次处理
        for k in range(batch_size):
            bs_mask = (bs_idx == k)
            #这里以*_single应该是中间缓存变量，作为每一批次处理的变量存储数据
            #points_single取出对应批次的点云的坐标信息
            points_single = points[bs_mask][:, 1:4]
            point_cls_labels_single = point_cls_labels.new_zeros(bs_mask.sum())
             #将每一个点云数据分配到真实标注框上
            box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(         
                points_single.unsqueeze(dim=0), gt_boxes[k:k + 1, :, 0:7].contiguous()
            ).long().squeeze(dim=0)
            
             #box_idxs_of_pts是每个点对应分配的标注框索引值，没有匹配的赋值为-1
            box_fg_flag = (box_idxs_of_pts >= 0) 
            #根据之前扩展的3D框计算被忽略的点
            if set_ignore_flag:
             #将每一个点云数据分配到扩展后的标注框上
                extend_box_idxs_of_pts = roiaware_pool3d_utils.points_in_boxes_gpu(
                    points_single.unsqueeze(dim=0), extend_gt_boxes[k:k+1, :, 0:7].contiguous()
                ).long().squeeze(dim=0)
                fg_flag = box_fg_flag
                #异或运算，未扩展前没有包括，扩展后包含到的框，即被忽略的框
                ignore_flag = fg_flag ^ (extend_box_idxs_of_pts >= 0)
                point_cls_labels_single[ignore_flag] = -1
            elif use_ball_constraint:
                box_centers = gt_boxes[k][box_idxs_of_pts][:, 0:3].clone()
                box_centers[:, 2] += gt_boxes[k][box_idxs_of_pts][:, 5] / 2
                ball_flag = ((box_centers - points_single).norm(dim=1) < central_radius)
                fg_flag = box_fg_flag & ball_flag
            else:
                raise NotImplementedError

           #记录前景点信息，可以理解为论文中所说的前景点分割
            gt_box_of_fg_points = gt_boxes[k][box_idxs_of_pts[fg_flag]]
             #最后一维代表的是标注框对应的类别信息，对应前景点的类别信息
            point_cls_labels_single[fg_flag] = 1 if self.num_class == 1 else gt_box_of_fg_points[:, -1].long()
            #记录一次批处理流程中所有点的类别信息
            point_cls_labels[bs_mask] = point_cls_labels_single

            if ret_box_labels and gt_box_of_fg_points.shape[0] > 0:
                point_box_labels_single = point_box_labels.new_zeros((bs_mask.sum(), 8))
                #记录每一个前景点从G_hat到G的参数偏移，每个前景点最后输出是1*8维向量
                fg_point_box_labels = self.box_coder.encode_torch(
                    gt_boxes=gt_box_of_fg_points[:, :-1], points=points_single[fg_flag],
                    gt_classes=gt_box_of_fg_points[:, -1].long()
                )
                point_box_labels_single[fg_flag] = fg_point_box_labels
                point_box_labels[bs_mask] = point_box_labels_single

            if ret_part_labels:
                point_part_labels_single = point_part_labels.new_zeros((bs_mask.sum(), 3))
                transformed_points = points_single[fg_flag] - gt_box_of_fg_points[:, 0:3]
                transformed_points = common_utils.rotate_points_along_z(
                    transformed_points.view(-1, 1, 3), -gt_box_of_fg_points[:, 6]
                ).view(-1, 3)
                offset = torch.tensor([0.5, 0.5, 0.5]).view(1, 3).type_as(transformed_points)
                point_part_labels_single[fg_flag] = (transformed_points / gt_box_of_fg_points[:, 3:6]) + offset
                point_part_labels[bs_mask] = point_part_labels_single

        targets_dict = {
            'point_cls_labels': point_cls_labels,
            'point_box_labels': point_box_labels,
            'point_part_labels': point_part_labels
        }
        return targets_dict

经典框架解读 | 论文+代码 | 3D Detection | OpenPCDet | PointRCNN