[Enhance] Support tensor-like operations for BaseInstance3DBoxes and …

…BasePoints (#2501)

mmdet3d/datasets/convert_utils.py

@@ -330,7 +330,7 @@ def convert_annos(info: dict, cam_idx: int) -> dict:
         Box3DMode.LIDAR, np.linalg.inv(rect @ lidar2cam0), correct_yaw=True)
     # convert gt_bboxes_3d to cam coordinates
     gt_bboxes_3d = gt_bboxes_3d.convert_to(
-        Box3DMode.CAM, rect @ lidar2cami, correct_yaw=True).tensor.numpy()
+        Box3DMode.CAM, rect @ lidar2cami, correct_yaw=True).numpy()
     converted_annos['location'] = gt_bboxes_3d[:, :3]
     converted_annos['dimensions'] = gt_bboxes_3d[:, 3:6]
     converted_annos['rotation_y'] = gt_bboxes_3d[:, 6]

mmdet3d/datasets/transforms/loading.py

@@ -387,7 +387,7 @@ def _remove_close(self,
         if isinstance(points, np.ndarray):
             points_numpy = points
         elif isinstance(points, BasePoints):
-            points_numpy = points.tensor.numpy()
+            points_numpy = points.numpy()
         else:
             raise NotImplementedError
         x_filt = np.abs(points_numpy[:, 0]) < radius

mmdet3d/datasets/transforms/transforms_3d.py

@@ -416,13 +416,13 @@ def transform(self, input_dict: dict) -> dict:
             gt_bboxes_2d = input_dict['gt_bboxes']
             # Assume for now 3D & 2D bboxes are the same
             sampled_dict = self.db_sampler.sample_all(
-                gt_bboxes_3d.tensor.numpy(),
+                gt_bboxes_3d.numpy(),
                 gt_labels_3d,
                 gt_bboxes_2d=gt_bboxes_2d,
                 img=img)
         else:
             sampled_dict = self.db_sampler.sample_all(
-                gt_bboxes_3d.tensor.numpy(),
+                gt_bboxes_3d.numpy(),
                 gt_labels_3d,
                 img=None,
                 ground_plane=ground_plane)
@@ -435,8 +435,7 @@ def transform(self, input_dict: dict) -> dict:
             gt_labels_3d = np.concatenate([gt_labels_3d, sampled_gt_labels],
                                           axis=0)
             gt_bboxes_3d = gt_bboxes_3d.new_box(
-                np.concatenate(
-                    [gt_bboxes_3d.tensor.numpy(), sampled_gt_bboxes_3d]))
+                np.concatenate([gt_bboxes_3d.numpy(), sampled_gt_bboxes_3d]))
 
             points = self.remove_points_in_boxes(points, sampled_gt_bboxes_3d)
             # check the points dimension
@@ -515,8 +514,8 @@ def transform(self, input_dict: dict) -> dict:
         points = input_dict['points']
 
         # TODO: this is inplace operation
-        numpy_box = gt_bboxes_3d.tensor.numpy()
-        numpy_points = points.tensor.numpy()
+        numpy_box = gt_bboxes_3d.numpy()
+        numpy_points = points.numpy()
 
         noise_per_object_v3_(
             numpy_box,
@@ -1547,7 +1546,7 @@ def transform(self, results: dict) -> dict:
         # Extend points with seg and mask fields
         map_fields2dim = []
         start_dim = original_dim
-        points_numpy = points.tensor.numpy()
+        points_numpy = points.numpy()
         extra_channel = [points_numpy]
         for idx, key in enumerate(results['pts_mask_fields']):
             map_fields2dim.append((key, idx + start_dim))

mmdet3d/evaluation/metrics/kitti_metric.py

@@ -634,8 +634,8 @@ def convert_valid_bboxes(self, box_dict: dict, info: dict) -> dict:
             return dict(
                 bbox=box_2d_preds[valid_inds, :].numpy(),
                 pred_box_type_3d=type(box_preds),
-                box3d_camera=box_preds_camera[valid_inds].tensor.numpy(),
-                box3d_lidar=box_preds_lidar[valid_inds].tensor.numpy(),
+                box3d_camera=box_preds_camera[valid_inds].numpy(),
+                box3d_lidar=box_preds_lidar[valid_inds].numpy(),
                 scores=scores[valid_inds].numpy(),
                 label_preds=labels[valid_inds].numpy(),
                 sample_idx=sample_idx)

mmdet3d/evaluation/metrics/waymo_metric.py

@@ -453,8 +453,8 @@ def merge_multi_view_boxes(self, box_dict_per_frame: List[dict],
         # Note: bbox is meaningless in final evaluation, set to 0
         merged_box_dict = dict(
             bbox=np.zeros([box_preds_lidar.tensor.shape[0], 4]),
-            box3d_camera=box_preds_camera.tensor.numpy(),
-            box3d_lidar=box_preds_lidar.tensor.numpy(),
+            box3d_camera=box_preds_camera.numpy(),
+            box3d_lidar=box_preds_lidar.numpy(),
             scores=scores.numpy(),
             label_preds=labels.numpy(),
             sample_idx=box_dict['sample_idx'],
@@ -694,8 +694,8 @@ def convert_valid_bboxes(self, box_dict: dict, info: dict) -> dict:
             return dict(
                 bbox=box_2d_preds[valid_inds, :].numpy(),
                 pred_box_type_3d=type(box_preds),
-                box3d_camera=box_preds_camera[valid_inds].tensor.numpy(),
-                box3d_lidar=box_preds_lidar[valid_inds].tensor.numpy(),
+                box3d_camera=box_preds_camera[valid_inds].numpy(),
+                box3d_lidar=box_preds_lidar[valid_inds].numpy(),
                 scores=scores[valid_inds].numpy(),
                 label_preds=labels[valid_inds].numpy(),
                 sample_idx=sample_idx)

mmdet3d/structures/bbox_3d/base_box3d.py

@@ -38,6 +38,8 @@ class BaseInstance3DBoxes:
             boxes.
     """
 
+    YAW_AXIS: int = 0
+
     def __init__(
         self,
         tensor: Union[Tensor, np.ndarray, Sequence[Sequence[float]]],
@@ -77,6 +79,11 @@ def __init__(
             src = self.tensor.new_tensor(origin)
             self.tensor[:, :3] += self.tensor[:, 3:6] * (dst - src)
 
+    @property
+    def shape(self) -> torch.Size:
+        """torch.Size: Shape of boxes."""
+        return self.tensor.shape
+
     @property
     def volume(self) -> Tensor:
         """Tensor: A vector with volume of each box in shape (N, )."""
@@ -406,6 +413,10 @@ def cat(cls, boxes_list: Sequence['BaseInstance3DBoxes']
             with_yaw=boxes_list[0].with_yaw)
         return cat_boxes
 
+    def numpy(self) -> np.ndarray:
+        """Reload ``numpy`` from self.tensor."""
+        return self.tensor.numpy()
+
     def to(self, device: Union[str, torch.device], *args,
            **kwargs) -> 'BaseInstance3DBoxes':
         """Convert current boxes to a specific device.
@@ -415,14 +426,36 @@ def to(self, device: Union[str, torch.device], *args,
 
         Returns:
             :obj:`BaseInstance3DBoxes`: A new boxes object on the specific
-                device.
+            device.
         """
         original_type = type(self)
         return original_type(
             self.tensor.to(device, *args, **kwargs),
             box_dim=self.box_dim,
             with_yaw=self.with_yaw)
 
+    def cpu(self) -> 'BaseInstance3DBoxes':
+        """Convert current boxes to cpu device.
+
+        Returns:
+            :obj:`BaseInstance3DBoxes`: A new boxes object on the cpu device.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.cpu(), box_dim=self.box_dim, with_yaw=self.with_yaw)
+
+    def cuda(self, *args, **kwargs) -> 'BaseInstance3DBoxes':
+        """Convert current boxes to cuda device.
+
+        Returns:
+            :obj:`BaseInstance3DBoxes`: A new boxes object on the cuda device.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.cuda(*args, **kwargs),
+            box_dim=self.box_dim,
+            with_yaw=self.with_yaw)
+
     def clone(self) -> 'BaseInstance3DBoxes':
         """Clone the boxes.
 
@@ -434,6 +467,17 @@ def clone(self) -> 'BaseInstance3DBoxes':
         return original_type(
             self.tensor.clone(), box_dim=self.box_dim, with_yaw=self.with_yaw)
 
+    def detach(self) -> 'BaseInstance3DBoxes':
+        """Detach the boxes.
+
+        Returns:
+            :obj:`BaseInstance3DBoxes`: Box object with the same properties as
+            self.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.detach(), box_dim=self.box_dim, with_yaw=self.with_yaw)
+
     @property
     def device(self) -> torch.device:
         """torch.device: The device of the boxes are on."""

mmdet3d/structures/points/base_points.py

@@ -417,6 +417,10 @@ def cat(cls, points_list: Sequence['BasePoints']) -> 'BasePoints':
             attribute_dims=points_list[0].attribute_dims)
         return cat_points
 
+    def numpy(self) -> np.ndarray:
+        """Reload ``numpy`` from self.tensor."""
+        return self.tensor.numpy()
+
     def to(self, device: Union[str, torch.device], *args,
            **kwargs) -> 'BasePoints':
         """Convert current points to a specific device.
@@ -433,6 +437,30 @@ def to(self, device: Union[str, torch.device], *args,
             points_dim=self.points_dim,
             attribute_dims=self.attribute_dims)
 
+    def cpu(self) -> 'BasePoints':
+        """Convert current points to cpu device.
+
+        Returns:
+            :obj:`BasePoints`: A new points object on the cpu device.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.cpu(),
+            points_dim=self.points_dim,
+            attribute_dims=self.attribute_dims)
+
+    def cuda(self, *args, **kwargs) -> 'BasePoints':
+        """Convert current points to cuda device.
+
+        Returns:
+            :obj:`BasePoints`: A new points object on the cuda device.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.cuda(*args, **kwargs),
+            points_dim=self.points_dim,
+            attribute_dims=self.attribute_dims)
+
     def clone(self) -> 'BasePoints':
         """Clone the points.
 
@@ -445,6 +473,18 @@ def clone(self) -> 'BasePoints':
             points_dim=self.points_dim,
             attribute_dims=self.attribute_dims)
 
+    def detach(self) -> 'BasePoints':
+        """Detach the points.
+
+        Returns:
+            :obj:`BasePoints`: Point object with the same properties as self.
+        """
+        original_type = type(self)
+        return original_type(
+            self.tensor.detach(),
+            points_dim=self.points_dim,
+            attribute_dims=self.attribute_dims)
+
     @property
     def device(self) -> torch.device:
         """torch.device: The device of the points are on."""

projects/PETR/petr/transforms_3d.py

@@ -167,7 +167,7 @@ def transform(self, results):
 
         # TODO: support translation
         if not self.reverse_angle:
-            gt_bboxes_3d = results['gt_bboxes_3d'].tensor.numpy()
+            gt_bboxes_3d = results['gt_bboxes_3d'].numpy()
             gt_bboxes_3d[:, 6] -= 2 * rot_angle
             results['gt_bboxes_3d'] = LiDARInstance3DBoxes(
                 gt_bboxes_3d, box_dim=9)

tests/test_structures/test_bbox/test_box3d.py

@@ -347,7 +347,7 @@ def test_lidar_boxes3d():
     points_np, rot_mat_T_np = boxes.rotate(0.13603681398218053, points_np)
     lidar_points = LiDARPoints(points_np)
     lidar_points, rot_mat_T_np = boxes.rotate(rot_mat, lidar_points)
-    points_np = lidar_points.tensor.numpy()
+    points_np = lidar_points.numpy()
 
     assert np.allclose(points_np, expected_points_np, 1e-3)
     assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
@@ -667,8 +667,8 @@ def test_boxes_conversion():
     assert torch.allclose(lidar_to_cam_box, camera_boxes.tensor)
 
     # test numpy convert
-    cam_to_lidar_box = Box3DMode.convert(camera_boxes.tensor.numpy(),
-                                         Box3DMode.CAM, Box3DMode.LIDAR,
+    cam_to_lidar_box = Box3DMode.convert(camera_boxes.numpy(), Box3DMode.CAM,
+                                         Box3DMode.LIDAR,
                                          rt_mat.inverse().numpy())
     assert np.allclose(cam_to_lidar_box, expected_tensor.numpy())
 
@@ -931,7 +931,7 @@ def test_camera_boxes3d():
         torch.tensor(-0.13603681398218053), points_np)
     camera_points = CameraPoints(points_np, points_dim=4)
     camera_points, rot_mat_T_np = boxes.rotate(rot_mat, camera_points)
-    points_np = camera_points.tensor.numpy()
+    points_np = camera_points.numpy()
     assert np.allclose(points_np, expected_points_np, 1e-3)
     assert np.allclose(rot_mat_T_np, expected_rot_mat_T_np, 1e-3)
 
@@ -1338,7 +1338,7 @@ def test_depth_boxes3d():
     points_np, rot_mat_T_np = boxes.rotate(-0.022998953275003075, points_np)
     depth_points = DepthPoints(points_np, points_dim=4)
     depth_points, rot_mat_T_np = boxes.rotate(rot_mat, depth_points)
-    points_np = depth_points.tensor.numpy()
+    points_np = depth_points.numpy()
     expected_rot_mat_T_np = expected_rot_mat_T_np.T
     assert torch.allclose(boxes.tensor, expected_tensor, 1e-3)
     assert np.allclose(points_np, expected_points_np, 1e-3)

tools/dataset_converters/create_gt_database.py

@@ -241,8 +241,8 @@ def create_groundtruth_database(dataset_class_name,
         example = dataset.pipeline(data_info)
         annos = example['ann_info']
         image_idx = example['sample_idx']
-        points = example['points'].tensor.numpy()
-        gt_boxes_3d = annos['gt_bboxes_3d'].tensor.numpy()
+        points = example['points'].numpy()
+        gt_boxes_3d = annos['gt_bboxes_3d'].numpy()
         names = [dataset.metainfo['classes'][i] for i in annos['gt_labels_3d']]
         group_dict = dict()
         if 'group_ids' in annos:
@@ -406,8 +406,8 @@ def create_single(self, input_dict):
         example = self.pipeline(input_dict)
         annos = example['ann_info']
         image_idx = example['sample_idx']
-        points = example['points'].tensor.numpy()
-        gt_boxes_3d = annos['gt_bboxes_3d'].tensor.numpy()
+        points = example['points'].numpy()
+        gt_boxes_3d = annos['gt_bboxes_3d'].numpy()
         names = [
             self.dataset.metainfo['classes'][i] for i in annos['gt_labels_3d']
         ]

tools/deployment/mmdet3d_handler.py

@@ -105,10 +105,10 @@ def postprocess(self, data):
         for pts_index, result in enumerate(data):
             output.append([])
             if 'pts_bbox' in result.keys():
-                pred_bboxes = result['pts_bbox']['boxes_3d'].tensor.numpy()
+                pred_bboxes = result['pts_bbox']['boxes_3d'].numpy()
                 pred_scores = result['pts_bbox']['scores_3d'].numpy()
             else:
-                pred_bboxes = result['boxes_3d'].tensor.numpy()
+                pred_bboxes = result['boxes_3d'].numpy()
                 pred_scores = result['scores_3d'].numpy()
 
             index = pred_scores > self.threshold

tools/deployment/test_torchserver.py

@@ -37,10 +37,10 @@ def main(args):
     model_result, _ = inference_detector(model, args.pcd)
     # filter the 3d bboxes whose scores > 0.5
     if 'pts_bbox' in model_result[0].keys():
-        pred_bboxes = model_result[0]['pts_bbox']['boxes_3d'].tensor.numpy()
+        pred_bboxes = model_result[0]['pts_bbox']['boxes_3d'].numpy()
         pred_scores = model_result[0]['pts_bbox']['scores_3d'].numpy()
     else:
-        pred_bboxes = model_result[0]['boxes_3d'].tensor.numpy()
+        pred_bboxes = model_result[0]['boxes_3d'].numpy()
         pred_scores = model_result[0]['scores_3d'].numpy()
     model_result = pred_bboxes[pred_scores > 0.5]