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PointPillars

High performance version of 3D object detection network -PointPillars, which can achieve the real-time processing (less than 1 ms / head)

1. The inference part of PointPillars(pfe , backbone(multihead)) is optimized by tensorrt
2. The pre- and post- processing are optimized by CUDA / C + recode.

Major Advance

• Easy to train

  • this repo directly uses mmlab/OpenPCdet for training. Therefore, as long as you follow the steps of the official tutorial, it is very easy to train your own data. In addition, you can directly use official weight(PointPillar-MultiHead) for deployment. Due to the need to use Tensorrt, the official mmlab/OpenPCdet still needs to be customized. I will upload my modified version to hova88/OpenPCdet.

• Easy to deploy

  • On the basis of Autoware.ai/core_perception/lidar_point_pillars and Apollo/modules/perception/lidar/lib/detection/lidar_point_pillars, this repo improves the way of information transmission, removes redundant things and adds MultiHead feature in postprocess.

Requirements (My Environment)

For *.onnx and *.trt engine file

• Linux Ubuntu 18.04
• OpenPCdet
• ONNX IR version: 0.0.6
• onnx2trt

For algorithm:

• Linux Ubuntu 18.04
• CMake 3.17
• CUDA 10.2
• TensorRT 7.1.3
• yaml-cpp
• google-test (not necessary)

For visualization

• open3d

Usage

1. clone thest two repositories, and make sure the dependences is complete

   mkdir workspace && cd workspace
   git clone https://github.com/hova88/PointPillars_MultiHead_40FPS.git --recursive && cd ..
   git clone https://github.com/hova88/OpenPCDet.git 

2. generate engine file

   • 1.1 Pytorch model --> ONNX model : The specific conversion tutorial, i have put in the change log of hova88/OpenPCdet.

     • cbgs_pp_multihead_pfe.onnx
     • cbgs_pp_multihead_backbone.onnx

   • 1.2 ONNX model --> TensorRT model : after install the onnx2trt, things become very simple. Note that if you want to further improve the the inference speed, you must use half precision or mixed precision(like ,-d 16)

         onnx2trt cbgs_pp_multihead_pfe.onnx -o cbgs_pp_multihead_pfe.trt -b 1 -d 16 
         onnx2trt cbgs_pp_multihead_backbone.onnx -o cbgs_pp_multihead_backbone.trt -b 1 -d 16 

   • 1.3 engine file --> algorithm : Specified the path of engine files(*.onnx , *.trt) inbootstrap.yaml.

   • 1.4 Download the test pointcloud nuscenes_10sweeps_points.txt, and specified the path in bootstrap.yaml.

3. Compiler

   cd PointPillars_MultiHead_40FPS
   mkdir build && cd build
   cmake .. && make -j8 && ./test/test_model

4. Visualization

   cd PointPillars_MultiHead_40FPS/tools
   python viewer.py

Left figure shows the results of this repo, Right figure shows the official result of mmlab/OpenPCdet.

Result

Use *.trt engine file on NVIDIA GeForce RTX 3080 Ti

with the ScoreThreshold = 0.1

 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> 
 | ../model/cbgs_pp_multihead_pfe.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> 
             (\__/) ||                 
             (•ㅅ•) ||                 
             / 　 づ                                                         
                                                                  
 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> 
 | ../model/cbgs_pp_multihead_backbone.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> 
             (\__/) ||                 ****
             (•ㅅ•) ||                 
             / 　 づ     
                                                                  
------------------------------------
Module        Time        
------------------------------------
Preprocess    0.571069 ms
Pfe           3.26203  ms
Scatter       0.384075 ms
Backbone      2.92882  ms
Postprocess   8.82032  ms
Summary       15.9707  ms
------------------------------------

with the ScoreThreshold = 0.4

 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> 
 | ../model/cbgs_pp_multihead_pfe.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> 
             (\__/) ||                 
             (•ㅅ•) ||                 
             / 　 づ                                                         
                                                                  
 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> 
 | ../model/cbgs_pp_multihead_backbone.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> 
             (\__/) ||                 ****
             (•ㅅ•) ||                 
             / 　 づ     
                                                                  
------------------------------------
Module        Time        
------------------------------------
Preprocess    0.337111 ms
Pfe           2.81834  ms
Scatter       0.161953 ms
Backbone      3.64112  ms
Postprocess   4.34731  ms
Summary       11.3101  ms
------------------------------------

Runtime logs

• 1. ScoreThreshold = 0.1
• 2. ScoreThreshold = 0.2
• 3. ScoreThreshold = 0.3
• 4. ScoreThreshold = 0.4

License

GNU General Public License v3.0 or later See COPYING to see the full text.