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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)

The inference part of PointPillars(pfe , backbone(multihead)) is optimized by tensorrt
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

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

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.

Compiler

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

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 *.onnx engine file

----------------------------------------------------------------
Input filename:   ../model/cbgs_pp_multihead_pfe.onnx
ONNX IR version:  0.0.6
Opset version:    12
Producer name:    pytorch
Producer version: 1.7
Domain:           
Model version:    0
Doc string:       
----------------------------------------------------------------
WARNING: [TRT]/home/hova/onnx-tensorrt/onnx2trt_utils.cpp:220: Your ONNX model has been generated with INT64 weights, while TensorRT does not natively support INT64. Attempting to cast down to INT32.
----------------------------------------------------------------
Input filename:   ../model/cbgs_pp_multihead_backbone.onnx
ONNX IR version:  0.0.6
Opset version:    10
Producer name:    pytorch
Producer version: 1.7
Domain:           
Model version:    0
Doc string:       
----------------------------------------------------------------
------------------------------------
Module        Time        
------------------------------------
Preprocess    0.455046 ms
Pfe           0.319025 ms
Scatter       0.004159 ms
Backbone      33.1782  ms
Postprocess   7.17682  ms
Summary       41.1385  ms
------------------------------------

Use *.trt engine file

------------------------------------------------------------------
>>>>                                                          >>>>
                                                                  
Input filename:   ../model/cbgs_pp_multihead_pfe.trt
                                                                  
>>>>                                                          >>>>
------------------------------------------------------------------
                                                                  
                                                                  
------------------------------------------------------------------
>>>>                                                          >>>>
                                                                  
Input filename:   ../model/cbgs_pp_multihead_backbone.trt
                                                                  
>>>>                                                          >>>>
------------------------------------------------------------------
                                                                  
------------------------------------
Module        Time        
------------------------------------
Preprocess    0.459405 ms
Pfe           4.2454   ms
Scatter       0.007755 ms
Backbone      15.5444  ms
Postprocess   7.21689  ms
Summary       27.4806  ms
------------------------------------

License

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

ycdhqzhiai/PointPillars_MultiHead_40FPS