Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

Last update: Jan 3, 2023

Overview

Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

This repository contains a reference implementation of our Part-Aware Data Augmentation for 3D Object Detection in Point Cloud.

If you find this code useful in your research, please consider citing our work:

@article{choi2020part,
  title={Part-Aware Data Augmentation for 3D Object Detection in Point Cloud},
  author={Choi, Jaeseok and Song, Yeji and Kwak, Nojun},
  journal={arXiv preprint arXiv:2007.13373},
  year={2020}
}

Prerequisites

Our code was tested on second.pytorch and OpenPCDet.
This repository contains only part-aware data augmentation code.
Refer to the link above for code such as data loader or detector.

Usage

Args:
    ** only supports KITTI format **
    points: lidar points (N, 4), 
    gt_boxes: ground truth boxes (B, 7),
    gt_names: ground truth classes (B, 1), 
    class_names: list of classes to augment (3),
    pa_aug_param: parameters for PA_AUG (string).

Returns:
    points: augmented lidar points (N', 4),
    gt_boxes_mask: mask for gt_boxes (B)


class_names = ['Car', 'Pedestrian', 'Cyclist']
pa_aug_param = "dropout_p02_swap_p02_mix_p02_sparse40_p01_noise10_p01"

pa_aug = PartAwareAugmentation(points, gt_boxes, gt_names, class_names=class_names)
points, gt_boxes_mask = pa_aug.augment(pa_aug_param=pa_aug_param)
gt_boxes = gt_boxes[gt_boxes_mask]

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Comments

pvrcnn result in pa-aug paper lower than original paper

Hi @sky77764，thanks for sharing the code.

I have a question when reading the paper, moderate car val AP [email protected] of pvrcnn is 84.84 in original pvrcnn paper and 83.61 in open-pcdet implementation, while in pa-aug paper is 80.43.

Why is it much lower than original paper or open-pcdet implementation.

opened by turboxin 4

Inconsistent rotation directions in rotation_3d_in_axis and rotation_points_single_angle

In box_np_ops.py it's written as:

def rotation_points_single_angle(points, angle, axis=0):
    # points: [N, 3]
    rot_sin = np.sin(angle)
    rot_cos = np.cos(angle)
    if axis == 1:
        rot_mat_T = np.array(
            [[rot_cos, 0, -rot_sin], [0, 1, 0], [rot_sin, 0, rot_cos]],
            dtype=points.dtype)
    elif axis == 2 or axis == -1:
        rot_mat_T = np.array(
            [[rot_cos, -rot_sin, 0], [rot_sin, rot_cos, 0], [0, 0, 1]],
            dtype=points.dtype)
    elif axis == 0:
        rot_mat_T = np.array(
            [[1, 0, 0], [0, rot_cos, -rot_sin], [0, rot_sin, rot_cos]],
            dtype=points.dtype)
    else:
        raise ValueError("axis should in range")

    return points @ rot_mat_T

This results in mathematically negative rotation directions when axis == 2 or axis == 0, but mathematically negative direction for axis == 1. Transposing the matrices for axis == 2 and axis == 0 would fix that. The same happens in the rotation_3d_in_axis function.

For reference see Wikipedia on rotation matrices

opened by Tobi995 0

Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

Related tags

Overview

Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

Prerequisites

Usage

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Comments

pvrcnn result in pa-aug paper lower than original paper

Inconsistent rotation directions in rotation_3d_in_axis and rotation_points_single_angle

Owner

Jaeseok Choi

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