open3d.ml.torch.models.PointRCNN¶

class open3d.ml.torch.models.PointRCNN(name='PointRCNN', device='cuda', classes=['Car'], score_thres=0.3, npoints=16384, rpn={}, rcnn={}, mode='RCNN', **kwargs)¶

Object detection model. Based on the PoinRCNN architecture https://github.com/sshaoshuai/PointRCNN.

The network is not trainable end-to-end, it requires pre-training of the RPN module, followed by training of the RCNN module. For this the mode must be set to ‘RPN’, with this, the network only outputs intermediate results. If the RPN module is trained, the mode can be set to ‘RCNN’ (default), with this, the second module can be trained and the output are the final predictions.

For inference use the ‘RCNN’ mode.

Parameters

name (string) – Name of model. Default to “PointRCNN”.
device (string) – ‘cuda’ or ‘cpu’. Default to ‘cuda’.
classes (string[]) – List of classes used for object detection: Default to [‘Car’].
score_thres (float) – Min confindence score for prediction. Default to 0.3.
npoints (int) – Number of processed input points. Default to 16384.
rpn (dict) – Config of RPN module. Default to {}.
rcnn (dict) – Config of RCNN module. Default to {}.
mode (string) – Execution mode, ‘RPN’ or ‘RCNN’. Default to ‘RCNN’.

__init__(name='PointRCNN', device='cuda', classes=['Car'], score_thres=0.3, npoints=16384, rpn={}, rcnn={}, mode='RCNN', **kwargs)¶

Initialize.

Parameters

cfg (cfg object or str) – cfg object or path to cfg file
dataset_path (str) – Path to the dataset
**kwargs (dict) – Dict of args

add_module(name: str, module: Optional[torch.nn.modules.module.Module]) → None¶

Adds a child module to the current module.

The module can be accessed as an attribute using the given name.

Parameters

name (string) – name of the child module. The child module can be accessed from this module using the given name
module (Module) – child module to be added to the module.

apply(fn: Callable[torch.nn.modules.module.Module, None]) → T¶

Applies fn recursively to every submodule (as returned by .children()) as well as self. Typical use includes initializing the parameters of a model (see also nn-init-doc).

Parameters: fn (Module -> None) – function to be applied to each submodule
Returns: self
Return type: Module

Example:

>>> @torch.no_grad()
>>> def init_weights(m):
>>>     print(m)
>>>     if type(m) == nn.Linear:
>>>         m.weight.fill_(1.0)
>>>         print(m.weight)
>>> net = nn.Sequential(nn.Linear(2, 2), nn.Linear(2, 2))
>>> net.apply(init_weights)
Linear(in_features=2, out_features=2, bias=True)
Parameter containing:
tensor([[ 1.,  1.],
        [ 1.,  1.]])
Linear(in_features=2, out_features=2, bias=True)
Parameter containing:
tensor([[ 1.,  1.],
        [ 1.,  1.]])
Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
)
Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
)

augment_data(data, attr)¶

Augment object detection data.

Available augmentations are:: ObjectSample: Insert objects from ground truth database. ObjectRangeFilter: Filter pointcloud from given bounds. PointShuffle: Shuffle the pointcloud.

Parameters

data – A dictionary object returned from the dataset class.
attr – Attributes for current pointcloud.

Returns

Augmented data dictionary.

bfloat16() → T¶

Casts all floating point parameters and buffers to bfloat16 datatype.

Returns: self
Return type: Module

buffers(recurse: bool = True) → Iterator[torch.Tensor]¶

Returns an iterator over module buffers.

Parameters: recurse (bool) – if True, then yields buffers of this module and all submodules. Otherwise, yields only buffers that are direct members of this module.
Yields: torch.Tensor – module buffer

Example:

>>> for buf in model.buffers():
>>>     print(type(buf), buf.size())
<class 'torch.Tensor'> (20L,)
<class 'torch.Tensor'> (20L, 1L, 5L, 5L)

children() → Iterator[torch.nn.modules.module.Module]¶

Returns an iterator over immediate children modules.

Yields: Module – a child module

cpu() → T¶

Moves all model parameters and buffers to the CPU.

Returns: self
Return type: Module

cuda(device: Optional[Union[int, torch.device]] = None) → T¶

Moves all model parameters and buffers to the GPU.

This also makes associated parameters and buffers different objects. So it should be called before constructing optimizer if the module will live on GPU while being optimized.

Parameters: device (int, optional) – if specified, all parameters will be copied to that device
Returns: self
Return type: Module

double() → T¶

Casts all floating point parameters and buffers to double datatype.

Returns: self
Return type: Module

eval() → T¶

Sets the module in evaluation mode.

This has any effect only on certain modules. See documentations of particular modules for details of their behaviors in training/evaluation mode, if they are affected, e.g. Dropout, BatchNorm, etc.

This is equivalent with self.train(False).

Returns: self
Return type: Module

extra_repr() → str¶

Set the extra representation of the module

To print customized extra information, you should re-implement this method in your own modules. Both single-line and multi-line strings are acceptable.

filter_objects(bbox_objs)¶

Filter objects based on classes to train.

Parameters: bbox_objs – Bounding box objects from dataset class.
Returns: Filtered bounding box objects.

float() → T¶

Casts all floating point parameters and buffers to float datatype.

Returns: self
Return type: Module

forward(inputs)¶

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

static generate_rpn_training_labels(points, bboxes, bboxes_world, calib=None)¶

Generates labels for RPN network.

Classifies each point as foreground/background based on points inside bbox. We don’t train on ambigious points which are just outside bounding boxes(calculated by extended_boxes). Also computes regression labels for bounding box proposals(in bounding box frame).

Parameters

points – Input pointcloud.
bboxes – bounding boxes in camera frame.
bboxes_world – bounding boxes in world frame.
calib – Calibration file for cam_to_world matrix.

Returns

Classification and Regression labels.

get_optimizer(cfg)¶

Returns an optimizer object for the model.

Parameters: cfg_pipeline – A Config object with the configuration of the pipeline.
Returns: Returns a new optimizer object.

half() → T¶

Casts all floating point parameters and buffers to half datatype.

Returns: self
Return type: Module

inference_end(results, inputs)¶

This function is called after the inference.

This function can be implemented to apply post-processing on the network outputs.

Parameters: results – The model outputs as returned by the call() function. Post-processing is applied on this object.
Returns: Returns True if the inference is complete and otherwise False. Returning False can be used to implement inference for large point clouds which require multiple passes.

load_gt_database(pickle_path, min_points_dict, sample_dict)¶

Load ground truth object database.

Parameters

pickle_path – Path of pickle file generated using scripts/collect_bbox.py.
min_points_dict – A dictionary to filter objects based on number of points inside.
sample_dict – A dictionary to decide number of objects to sample.

load_state_dict(state_dict: Dict[str, torch.Tensor], strict: bool = True)¶

Copies parameters and buffers from state_dict into this module and its descendants. If strict is True, then the keys of state_dict must exactly match the keys returned by this module’s state_dict() function.

Parameters

state_dict (dict) – a dict containing parameters and persistent buffers.
strict (bool, optional) – whether to strictly enforce that the keys in state_dict match the keys returned by this module’s state_dict() function. Default: True

Returns

missing_keys is a list of str containing the missing keys
unexpected_keys is a list of str containing the unexpected keys

Return type

NamedTuple with missing_keys and unexpected_keys fields

loss(results, inputs)¶

Computes the loss given the network input and outputs.

Parameters

Loss – A loss object.
results – This is the output of the model.
inputs – This is the input to the model.

Returns

Returns the loss value.

modules() → Iterator[torch.nn.modules.module.Module]¶

Returns an iterator over all modules in the network.

Yields: Module – a module in the network

Note

Duplicate modules are returned only once. In the following example, l will be returned only once.

Example:

>>> l = nn.Linear(2, 2)
>>> net = nn.Sequential(l, l)
>>> for idx, m in enumerate(net.modules()):
        print(idx, '->', m)

0 -> Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
)
1 -> Linear(in_features=2, out_features=2, bias=True)

named_buffers(prefix: str = '', recurse: bool = True) → Iterator[Tuple[str, torch.Tensor]]¶

Returns an iterator over module buffers, yielding both the name of the buffer as well as the buffer itself.

Parameters

prefix (str) – prefix to prepend to all buffer names.
recurse (bool) – if True, then yields buffers of this module and all submodules. Otherwise, yields only buffers that are direct members of this module.

Yields

(string, torch.Tensor) – Tuple containing the name and buffer

Example:

>>> for name, buf in self.named_buffers():
>>>    if name in ['running_var']:
>>>        print(buf.size())

named_children() → Iterator[Tuple[str, torch.nn.modules.module.Module]]¶

Returns an iterator over immediate children modules, yielding both the name of the module as well as the module itself.

Yields: (string, Module) – Tuple containing a name and child module

Example:

>>> for name, module in model.named_children():
>>>     if name in ['conv4', 'conv5']:
>>>         print(module)

named_modules(memo: Optional[Set[torch.nn.modules.module.Module]] = None, prefix: str = '')¶

Returns an iterator over all modules in the network, yielding both the name of the module as well as the module itself.

Yields: (string, Module) – Tuple of name and module

Note

Duplicate modules are returned only once. In the following example, l will be returned only once.

Example:

>>> l = nn.Linear(2, 2)
>>> net = nn.Sequential(l, l)
>>> for idx, m in enumerate(net.named_modules()):
        print(idx, '->', m)

0 -> ('', Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
))
1 -> ('0', Linear(in_features=2, out_features=2, bias=True))

named_parameters(prefix: str = '', recurse: bool = True) → Iterator[Tuple[str, torch.Tensor]]¶

Returns an iterator over module parameters, yielding both the name of the parameter as well as the parameter itself.

Parameters

prefix (str) – prefix to prepend to all parameter names.
recurse (bool) – if True, then yields parameters of this module and all submodules. Otherwise, yields only parameters that are direct members of this module.

Yields

(string, Parameter) – Tuple containing the name and parameter

Example:

>>> for name, param in self.named_parameters():
>>>    if name in ['bias']:
>>>        print(param.size())

parameters(recurse: bool = True) → Iterator[torch.nn.parameter.Parameter]¶

Returns an iterator over module parameters.

This is typically passed to an optimizer.

Parameters: recurse (bool) – if True, then yields parameters of this module and all submodules. Otherwise, yields only parameters that are direct members of this module.
Yields: Parameter – module parameter

Example:

>>> for param in model.parameters():
>>>     print(type(param), param.size())
<class 'torch.Tensor'> (20L,)
<class 'torch.Tensor'> (20L, 1L, 5L, 5L)

preprocess(data, attr)¶

Data preprocessing function.

This function is called before training to preprocess the data from a dataset.

Parameters

data – A sample from the dataset.
attr – The corresponding attributes.

Returns

Returns the preprocessed data

register_backward_hook(hook: Callable[[torch.nn.modules.module.Module, Union[Tuple[torch.Tensor, …], torch.Tensor], Union[Tuple[torch.Tensor, …], torch.Tensor]], Union[None, torch.Tensor]]) → torch.utils.hooks.RemovableHandle¶

Registers a backward hook on the module.

Warning

The current implementation will not have the presented behavior for complex Module that perform many operations. In some failure cases, grad_input and grad_output will only contain the gradients for a subset of the inputs and outputs. For such Module, you should use torch.Tensor.register_hook() directly on a specific input or output to get the required gradients.

The hook will be called every time the gradients with respect to module inputs are computed. The hook should have the following signature:

hook(module, grad_input, grad_output) -> Tensor or None

The grad_input and grad_output may be tuples if the module has multiple inputs or outputs. The hook should not modify its arguments, but it can optionally return a new gradient with respect to input that will be used in place of grad_input in subsequent computations. grad_input will only correspond to the inputs given as positional arguments.

Returns: a handle that can be used to remove the added hook by calling handle.remove()
Return type: torch.utils.hooks.RemovableHandle

register_buffer(name: str, tensor: Optional[torch.Tensor], persistent: bool = True) → None¶

Adds a buffer to the module.

This is typically used to register a buffer that should not to be considered a model parameter. For example, BatchNorm’s running_mean is not a parameter, but is part of the module’s state. Buffers, by default, are persistent and will be saved alongside parameters. This behavior can be changed by setting persistent to False. The only difference between a persistent buffer and a non-persistent buffer is that the latter will not be a part of this module’s state_dict.

Buffers can be accessed as attributes using given names.

Parameters

name (string) – name of the buffer. The buffer can be accessed from this module using the given name
tensor (Tensor) – buffer to be registered.
persistent (bool) – whether the buffer is part of this module’s state_dict.

Example:

>>> self.register_buffer('running_mean', torch.zeros(num_features))

register_forward_hook(hook: Callable[…, None]) → torch.utils.hooks.RemovableHandle¶

Registers a forward hook on the module.

The hook will be called every time after forward() has computed an output. It should have the following signature:

hook(module, input, output) -> None or modified output

The input contains only the positional arguments given to the module. Keyword arguments won’t be passed to the hooks and only to the forward. The hook can modify the output. It can modify the input inplace but it will not have effect on forward since this is called after forward() is called.

Returns: a handle that can be used to remove the added hook by calling handle.remove()
Return type: torch.utils.hooks.RemovableHandle

register_forward_pre_hook(hook: Callable[…, None]) → torch.utils.hooks.RemovableHandle¶

Registers a forward pre-hook on the module.

The hook will be called every time before forward() is invoked. It should have the following signature:

hook(module, input) -> None or modified input

The input contains only the positional arguments given to the module. Keyword arguments won’t be passed to the hooks and only to the forward. The hook can modify the input. User can either return a tuple or a single modified value in the hook. We will wrap the value into a tuple if a single value is returned(unless that value is already a tuple).

Returns: a handle that can be used to remove the added hook by calling handle.remove()
Return type: torch.utils.hooks.RemovableHandle

register_parameter(name: str, param: Optional[torch.nn.parameter.Parameter]) → None¶

Adds a parameter to the module.

The parameter can be accessed as an attribute using given name.

Parameters

name (string) – name of the parameter. The parameter can be accessed from this module using the given name
param (Parameter) – parameter to be added to the module.

requires_grad_(requires_grad: bool = True) → T¶

Change if autograd should record operations on parameters in this module.

This method sets the parameters’ requires_grad attributes in-place.

This method is helpful for freezing part of the module for finetuning or training parts of a model individually (e.g., GAN training).

Parameters: requires_grad (bool) – whether autograd should record operations on parameters in this module. Default: True.
Returns: self
Return type: Module

share_memory() → T¶

state_dict(destination=None, prefix='', keep_vars=False)¶

Returns a dictionary containing a whole state of the module.

Both parameters and persistent buffers (e.g. running averages) are included. Keys are corresponding parameter and buffer names.

Returns: a dictionary containing a whole state of the module
Return type: dict

Example:

>>> module.state_dict().keys()
['bias', 'weight']

to(*args, **kwargs)¶

Moves and/or casts the parameters and buffers.

This can be called as

to(device=None, dtype=None, non_blocking=False)¶

to(dtype, non_blocking=False)¶

to(tensor, non_blocking=False)¶

to(memory_format=torch.channels_last)¶

Its signature is similar to torch.Tensor.to(), but only accepts floating point desired dtype s. In addition, this method will only cast the floating point parameters and buffers to dtype (if given). The integral parameters and buffers will be moved device, if that is given, but with dtypes unchanged. When non_blocking is set, it tries to convert/move asynchronously with respect to the host if possible, e.g., moving CPU Tensors with pinned memory to CUDA devices.

See below for examples.

Note

This method modifies the module in-place.

Parameters

device (torch.device) – the desired device of the parameters and buffers in this module
dtype (torch.dtype) – the desired floating point type of the floating point parameters and buffers in this module
tensor (torch.Tensor) – Tensor whose dtype and device are the desired dtype and device for all parameters and buffers in this module
memory_format (torch.memory_format) – the desired memory format for 4D parameters and buffers in this module (keyword only argument)

Returns

self

Return type

Module

Example:

>>> linear = nn.Linear(2, 2)
>>> linear.weight
Parameter containing:
tensor([[ 0.1913, -0.3420],
        [-0.5113, -0.2325]])
>>> linear.to(torch.double)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1913, -0.3420],
        [-0.5113, -0.2325]], dtype=torch.float64)
>>> gpu1 = torch.device("cuda:1")
>>> linear.to(gpu1, dtype=torch.half, non_blocking=True)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1914, -0.3420],
        [-0.5112, -0.2324]], dtype=torch.float16, device='cuda:1')
>>> cpu = torch.device("cpu")
>>> linear.to(cpu)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1914, -0.3420],
        [-0.5112, -0.2324]], dtype=torch.float16)

train(mode: bool = True) → T¶

Sets the module in training mode.

This has any effect only on certain modules. See documentations of particular modules for details of their behaviors in training/evaluation mode, if they are affected, e.g. Dropout, BatchNorm, etc.

Parameters: mode (bool) – whether to set training mode (True) or evaluation mode (False). Default: True.
Returns: self
Return type: Module

transform(data, attr)¶

Transform function for the point cloud and features.

Parameters: cfg_pipeline – config file for pipeline.

type(dst_type: Union[torch.dtype, str]) → T¶

Casts all parameters and buffers to dst_type.

Parameters: dst_type (type or string) – the desired type
Returns: self
Return type: Module

zero_grad(set_to_none: bool = False) → None¶

Sets gradients of all model parameters to zero. See similar function under torch.optim.Optimizer for more context.

Parameters: set_to_none (bool) – instead of setting to zero, set the grads to None. See torch.optim.Optimizer.zero_grad() for details.

T_destination¶: alias of TypeVar(‘T_destination’)

dump_patches: bool = False¶

This allows better BC support for load_state_dict(). In state_dict(), the version number will be saved as in the attribute _metadata of the returned state dict, and thus pickled. _metadata is a dictionary with keys that follow the naming convention of state dict. See _load_from_state_dict on how to use this information in loading.

If new parameters/buffers are added/removed from a module, this number shall be bumped, and the module’s _load_from_state_dict method can compare the version number and do appropriate changes if the state dict is from before the change.

training: bool¶