paddlex 3.0.0b2__py3-none-any.whl → 3.0.0rc1__py3-none-any.whl

paddlex/inference/models/m_3d_bev_detection/processors.py

@@ -0,0 +1,990 @@
+# Copyright (c) 2024 PaddlePaddle Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import numbers
+
+import numpy as np
+
+from ....utils.deps import class_requires_deps, is_dep_available
+from ...common.reader.det_3d_reader import Sample
+from ...utils.benchmark import benchmark
+
+if is_dep_available("opencv-contrib-python"):
+    import cv2
+
+
+@benchmark.timeit
+class LoadPointsFromFile:
+    """Load points from a file and process them according to specified parameters."""
+
+    def __init__(
+        self, load_dim=6, use_dim=[0, 1, 2], shift_height=False, use_color=False
+    ):
+        """Initializes the LoadPointsFromFile object.
+
+        Args:
+            load_dim (int): Dimensions loaded in points.
+            use_dim (list or int): Dimensions used in points. If int, will use a range from 0 to use_dim (exclusive).
+            shift_height (bool): Whether to shift height values.
+            use_color (bool): Whether to include color attributes in the loaded points.
+        """
+
+        self.shift_height = shift_height
+        self.use_color = use_color
+        if isinstance(use_dim, int):
+            use_dim = list(range(use_dim))
+        assert (
+            max(use_dim) < load_dim
+        ), f"Expect all used dimensions < {load_dim}, got {use_dim}"
+
+        self.load_dim = load_dim
+        self.use_dim = use_dim
+
+    def _load_points(self, pts_filename):
+        """Private function to load point clouds data from a file.
+
+        Args:
+            pts_filename (str): Path to the point cloud file.
+
+        Returns:
+            numpy.ndarray: Loaded point cloud data.
+        """
+        points = np.fromfile(pts_filename, dtype=np.float32)
+        return points
+
+    def __call__(self, results):
+        """Call function to load points data from file and process it.
+
+        Args:
+            results (dict): Dictionary containing the 'pts_filename' key with the path to the point cloud file.
+
+        Returns:
+            dict: Updated results dictionary with 'points' key added.
+        """
+        pts_filename = results["pts_filename"]
+        points = self._load_points(pts_filename)
+        points = points.reshape(-1, self.load_dim)
+        points = points[:, self.use_dim]
+        attribute_dims = None
+
+        if self.shift_height:
+            floor_height = np.percentile(points[:, 2], 0.99)
+            height = points[:, 2] - floor_height
+            points = np.concatenate(
+                [points[:, :3], np.expand_dims(height, 1), points[:, 3:]], 1
+            )
+            attribute_dims = dict(height=3)
+
+        if self.use_color:
+            assert len(self.use_dim) >= 6
+            if attribute_dims is None:
+                attribute_dims = dict()
+            attribute_dims.update(
+                dict(
+                    color=[
+                        points.shape[1] - 3,
+                        points.shape[1] - 2,
+                        points.shape[1] - 1,
+                    ]
+                )
+            )
+
+        results["points"] = points
+
+        return results
+
+
+@benchmark.timeit
+class LoadPointsFromMultiSweeps(object):
+    """Load points from multiple sweeps.This is usually used for nuScenes dataset to utilize previous sweeps."""
+
+    def __init__(
+        self,
+        sweeps_num=10,
+        load_dim=5,
+        use_dim=[0, 1, 2, 4],
+        pad_empty_sweeps=False,
+        remove_close=False,
+        test_mode=False,
+        point_cloud_angle_range=None,
+    ):
+        """Initializes the LoadPointsFromMultiSweeps object
+        Args:
+            sweeps_num (int): Number of sweeps. Defaults to 10.
+            load_dim (int): Dimension number of the loaded points. Defaults to 5.
+            use_dim (list[int]): Which dimension to use. Defaults to [0, 1, 2, 4].
+                for more details. Defaults to dict(backend='disk').
+            pad_empty_sweeps (bool): Whether to repeat keyframe when
+                sweeps is empty. Defaults to False.
+            remove_close (bool): Whether to remove close points.
+                Defaults to False.
+            test_mode (bool): If test_model=True used for testing, it will not
+                randomly sample sweeps but select the nearest N frames.
+                Defaults to False.
+        """
+        self.load_dim = load_dim
+        self.sweeps_num = sweeps_num
+        self.use_dim = use_dim
+        self.pad_empty_sweeps = pad_empty_sweeps
+        self.remove_close = remove_close
+        self.test_mode = test_mode
+
+        if point_cloud_angle_range is not None:
+            self.filter_by_angle = True
+            self.point_cloud_angle_range = point_cloud_angle_range
+            print(point_cloud_angle_range)
+        else:
+            self.filter_by_angle = False
+            # self.point_cloud_angle_range = point_cloud_angle_range
+
+    def _load_points(self, pts_filename):
+        """Private function to load point clouds data.
+
+        Args:
+            pts_filename (str): Filename of point clouds data.
+
+        Returns:
+            np.ndarray: An array containing point clouds data.
+        """
+        points = np.fromfile(pts_filename, dtype=np.float32)
+        return points
+
+    def _remove_close(self, points, radius=1.0):
+        """Removes point too close within a certain radius from origin.
+
+        Args:
+            points (np.ndarray): Sweep points.
+            radius (float): Radius below which points are removed.
+                Defaults to 1.0.
+
+        Returns:
+            np.ndarray: Points after removing.
+        """
+        if isinstance(points, np.ndarray):
+            points_numpy = points
+        else:
+            raise NotImplementedError
+        x_filt = np.abs(points_numpy[:, 0]) < radius
+        y_filt = np.abs(points_numpy[:, 1]) < radius
+        not_close = np.logical_not(np.logical_and(x_filt, y_filt))
+        return points[not_close]
+
+    def filter_point_by_angle(self, points):
+        """
+        Filters points based on their angle in relation to the origin.
+
+        Args:
+            points (np.ndarray): An array of points with shape (N, 2), where each row
+                is a point in 2D space.
+
+        Returns:
+            np.ndarray: A filtered array of points that fall within the specified
+                angle range.
+        """
+        if isinstance(points, np.ndarray):
+            points_numpy = points
+        else:
+            raise NotImplementedError
+        pts_phi = (
+            np.arctan(points_numpy[:, 0] / points_numpy[:, 1])
+            + (points_numpy[:, 1] < 0) * np.pi
+            + np.pi * 2
+        ) % (np.pi * 2)
+
+        pts_phi[pts_phi > np.pi] -= np.pi * 2
+        pts_phi = pts_phi / np.pi * 180
+
+        assert np.all(-180 <= pts_phi) and np.all(pts_phi <= 180)
+
+        filt = np.logical_and(
+            pts_phi >= self.point_cloud_angle_range[0],
+            pts_phi <= self.point_cloud_angle_range[1],
+        )
+        return points[filt]
+
+    def __call__(self, results):
+        """Call function to load multi-sweep point clouds from files.
+
+        Args:
+            results (dict): Result dict containing multi-sweep point cloud \
+                filenames.
+
+        Returns:
+            dict: The result dict containing the multi-sweep points data. \
+                Added key and value are described below.
+
+                - points (np.ndarray): Multi-sweep point cloud arrays.
+        """
+        points = results["points"]
+        points[:, 4] = 0
+        sweep_points_list = [points]
+        ts = results["timestamp"]
+        if self.pad_empty_sweeps and len(results["sweeps"]) == 0:
+            for i in range(self.sweeps_num):
+                if self.remove_close:
+                    sweep_points_list.append(self._remove_close(points))
+                else:
+                    sweep_points_list.append(points)
+        else:
+            if len(results["sweeps"]) <= self.sweeps_num:
+                choices = np.arange(len(results["sweeps"]))
+            elif self.test_mode:
+                choices = np.arange(self.sweeps_num)
+            else:
+                choices = np.random.choice(
+                    len(results["sweeps"]), self.sweeps_num, replace=False
+                )
+            for idx in choices:
+                sweep = results["sweeps"][idx]
+                points_sweep = self._load_points(sweep["data_path"])
+                points_sweep = np.copy(points_sweep).reshape(-1, self.load_dim)
+                if self.remove_close:
+                    points_sweep = self._remove_close(points_sweep)
+                sweep_ts = sweep["timestamp"] / 1e6
+                points_sweep[:, :3] = (
+                    points_sweep[:, :3] @ sweep["sensor2lidar_rotation"].T
+                )
+                points_sweep[:, :3] += sweep["sensor2lidar_translation"]
+                points_sweep[:, 4] = ts - sweep_ts
+                # points_sweep = points.new_point(points_sweep)
+                sweep_points_list.append(points_sweep)
+
+        points = np.concatenate(sweep_points_list, axis=0)
+        if self.filter_by_angle:
+            points = self.filter_point_by_angle(points)
+
+        points = points[:, self.use_dim]
+        results["points"] = points
+        return results
+
+
+@benchmark.timeit
+@class_requires_deps("opencv-contrib-python")
+class LoadMultiViewImageFromFiles:
+    """Load multi-view images from files."""
+
+    def __init__(
+        self,
+        to_float32=False,
+        project_pts_to_img_depth=False,
+        cam_depth_range=[4.0, 45.0, 1.0],
+        constant_std=0.5,
+        imread_flag=-1,
+    ):
+        """
+        Initializes the LoadMultiViewImageFromFiles object.
+        Args:
+            to_float32 (bool): Whether to convert the loaded images to float32. Default: False.
+            project_pts_to_img_depth (bool): Whether to project points to image depth. Default: False.
+            cam_depth_range (list): Camera depth range in the format [min, max, focal]. Default: [4.0, 45.0, 1.0].
+            constant_std (float): Constant standard deviation for normalization. Default: 0.5.
+            imread_flag (int): Flag determining the color type of the loaded image.
+                - -1: cv2.IMREAD_UNCHANGED
+                -  0: cv2.IMREAD_GRAYSCALE
+                -  1: cv2.IMREAD_COLOR
+                Default: -1.
+        """
+        self.to_float32 = to_float32
+        self.project_pts_to_img_depth = project_pts_to_img_depth
+        self.cam_depth_range = cam_depth_range
+        self.constant_std = constant_std
+        self.imread_flag = imread_flag
+
+    def __call__(self, sample):
+        """
+        Call method to load multi-view image from files and update the sample dictionary.
+
+        Args:
+            sample (dict): Dictionary containing the image filename key.
+
+        Returns:
+            dict: Updated sample dictionary with loaded images and additional information.
+        """
+        filename = sample["img_filename"]
+
+        img = np.stack(
+            [cv2.imread(name, self.imread_flag) for name in filename], axis=-1
+        )
+        if self.to_float32:
+            img = img.astype(np.float32)
+        sample["filename"] = filename
+
+        sample["img"] = [img[..., i] for i in range(img.shape[-1])]
+        sample["img_shape"] = img.shape
+        sample["ori_shape"] = img.shape
+
+        sample["pad_shape"] = img.shape
+        # sample['scale_factor'] = 1.0
+        num_channels = 1 if len(img.shape) < 3 else img.shape[2]
+
+        sample["img_norm_cfg"] = dict(
+            mean=np.zeros(num_channels, dtype=np.float32),
+            std=np.ones(num_channels, dtype=np.float32),
+            to_rgb=False,
+        )
+        sample["img_fields"] = ["img"]
+        return sample
+
+
+@benchmark.timeit
+@class_requires_deps("opencv-contrib-python")
+class ResizeImage:
+    """Resize images & bbox & mask."""
+
+    def __init__(
+        self,
+        img_scale=None,
+        multiscale_mode="range",
+        ratio_range=None,
+        keep_ratio=True,
+        bbox_clip_border=True,
+        backend="cv2",
+        override=False,
+    ):
+        """Initializes the ResizeImage object.
+
+        Args:
+            img_scale (list or int, optional): The scale of the image. If a single integer is provided, it will be converted to a list. Defaults to None.
+            multiscale_mode (str): The mode for multiscale resizing. Can be "value" or "range". Defaults to "range".
+            ratio_range (list, optional): The range of image aspect ratios. Only used when img_scale is a single value. Defaults to None.
+            keep_ratio (bool): Whether to keep the aspect ratio when resizing. Defaults to True.
+            bbox_clip_border (bool): Whether to clip the bounding box to the image border. Defaults to True.
+            backend (str): The backend to use for image resizing. Can be "cv2". Defaults to "cv2".
+            override (bool): Whether to override certain resize parameters. Note: This option needs refactoring. Defaults to False.
+        """
+        if img_scale is None:
+            self.img_scale = None
+        else:
+            if isinstance(img_scale, list):
+                self.img_scale = img_scale
+            else:
+                self.img_scale = [img_scale]
+
+        if ratio_range is not None:
+            # mode 1: given a scale and a range of image ratio
+            assert len(self.img_scale) == 1
+        else:
+            # mode 2: given multiple scales or a range of scales
+            assert multiscale_mode in ["value", "range"]
+
+        self.backend = backend
+        self.multiscale_mode = multiscale_mode
+        self.ratio_range = ratio_range
+        self.keep_ratio = keep_ratio
+        # TODO: refactor the override option in Resize
+        self.override = override
+        self.bbox_clip_border = bbox_clip_border
+
+    @staticmethod
+    def random_select(img_scales):
+        """Randomly select an img_scale from the given list of candidates.
+
+        Args:
+            img_scales (list): A list of image scales to choose from.
+
+        Returns:
+            tuple: A tuple containing the selected image scale and its index in the list.
+        """
+        scale_idx = np.random.randint(len(img_scales))
+        img_scale = img_scales[scale_idx]
+        return img_scale, scale_idx
+
+    @staticmethod
+    def random_sample(img_scales):
+        """
+        Randomly sample an img_scale when `multiscale_mode` is set to 'range'.
+
+        Args:
+            img_scales (list of tuples): A list of tuples, where each tuple contains
+                the minimum and maximum scale dimensions for an image.
+
+        Returns:
+            tuple: A tuple containing the randomly sampled img_scale (long_edge, short_edge)
+                and None (to maintain function signature compatibility).
+        """
+        img_scale_long = [max(s) for s in img_scales]
+        img_scale_short = [min(s) for s in img_scales]
+        long_edge = np.random.randint(min(img_scale_long), max(img_scale_long) + 1)
+        short_edge = np.random.randint(min(img_scale_short), max(img_scale_short) + 1)
+        img_scale = (long_edge, short_edge)
+        return img_scale, None
+
+    @staticmethod
+    def random_sample_ratio(img_scale, ratio_range):
+        """
+        Randomly sample an img_scale based on the specified ratio_range.
+
+        Args:
+            img_scale (list): A list of two integers representing the minimum and maximum
+                scale for the image.
+            ratio_range (tuple): A tuple of two floats representing the minimum and maximum
+                ratio for sampling the img_scale.
+
+        Returns:
+            tuple: A tuple containing the sampled scale (as a tuple of two integers)
+                and None.
+        """
+
+        assert isinstance(img_scale, list) and len(img_scale) == 2
+        min_ratio, max_ratio = ratio_range
+        assert min_ratio <= max_ratio
+        ratio = np.random.random_sample() * (max_ratio - min_ratio) + min_ratio
+        scale = int(img_scale[0] * ratio), int(img_scale[1] * ratio)
+        return scale, None
+
+    def _random_scale(self, results):
+        """Randomly sample an img_scale according to `ratio_range` and `multiscale_mode`.
+
+        Args:
+            results (dict): A dictionary to store the sampled scale and its index.
+
+        Returns:
+            None. The sampled scale and its index are stored in `results` dictionary.
+        """
+
+        if self.ratio_range is not None:
+            scale, scale_idx = self.random_sample_ratio(
+                self.img_scale[0], self.ratio_range
+            )
+        elif len(self.img_scale) == 1:
+            scale, scale_idx = self.img_scale[0], 0
+        elif self.multiscale_mode == "range":
+            scale, scale_idx = self.random_sample(self.img_scale)
+        elif self.multiscale_mode == "value":
+            scale, scale_idx = self.random_select(self.img_scale)
+        else:
+            raise NotImplementedError
+
+        results["scale"] = scale
+        results["scale_idx"] = scale_idx
+
+    def _resize_img(self, results):
+        """Resize images based on the scale factor provided in ``results['scale']`` while maintaining the aspect ratio if ``self.keep_ratio`` is True.
+
+        Args:
+            results (dict): A dictionary containing image fields and their corresponding scales.
+
+        Returns:
+            None. The ``results`` dictionary is modified in place with resized images and additional fields like `img_shape`, `pad_shape`, `scale_factor`, and `keep_ratio`.
+        """
+        for key in results.get("img_fields", ["img"]):
+            for idx in range(len(results["img"])):
+                if self.keep_ratio:
+                    img, scale_factor = self.imrescale(
+                        results[key][idx],
+                        results["scale"],
+                        interpolation="bilinear" if key == "img" else "nearest",
+                        return_scale=True,
+                        backend=self.backend,
+                    )
+                    new_h, new_w = img.shape[:2]
+                    h, w = results[key][idx].shape[:2]
+                    w_scale = new_w / w
+                    h_scale = new_h / h
+                else:
+                    raise NotImplementedError
+                results[key][idx] = img
+
+            scale_factor = np.array(
+                [w_scale, h_scale, w_scale, h_scale], dtype=np.float32
+            )
+            results["img_shape"] = img.shape
+            # in case that there is no padding
+            results["pad_shape"] = img.shape
+            results["scale_factor"] = scale_factor
+            results["keep_ratio"] = self.keep_ratio
+
+    def rescale_size(self, old_size, scale, return_scale=False):
+        """
+        Calculate the new size to be rescaled to based on the given scale.
+
+        Args:
+            old_size (tuple): A tuple containing the width and height of the original size.
+            scale (float, int, or list of int): The scale factor or a list of integers representing the maximum and minimum allowed size.
+            return_scale (bool): Whether to return the scale factor along with the new size.
+
+        Returns:
+            tuple: A tuple containing the new size and optionally the scale factor if return_scale is True.
+
+        """
+        w, h = old_size
+        if isinstance(scale, (float, int)):
+            if scale <= 0:
+                raise ValueError(f"Invalid scale {scale}, must be positive.")
+            scale_factor = scale
+        elif isinstance(scale, list):
+            max_long_edge = max(scale)
+            max_short_edge = min(scale)
+            scale_factor = min(max_long_edge / max(h, w), max_short_edge / min(h, w))
+        else:
+            raise TypeError(
+                f"Scale must be a number or list of int, but got {type(scale)}"
+            )
+
+        def _scale_size(size, scale):
+            if isinstance(scale, (float, int)):
+                scale = (scale, scale)
+            w, h = size
+            return int(w * float(scale[0]) + 0.5), int(h * float(scale[1]) + 0.5)
+
+        new_size = _scale_size((w, h), scale_factor)
+
+        if return_scale:
+            return new_size, scale_factor
+        else:
+            return new_size
+
+    def imrescale(
+        self, img, scale, return_scale=False, interpolation="bilinear", backend=None
+    ):
+        """Resize image while keeping the aspect ratio.
+
+        Args:
+            img (numpy.ndarray): The input image.
+            scale (float): The scaling factor.
+            return_scale (bool): Whether to return the scaling factor along with the resized image.
+            interpolation (str): The interpolation method to use. Defaults to 'bilinear'.
+            backend (str): The backend to use for resizing. Defaults to None.
+
+        Returns:
+            tuple or numpy.ndarray: The resized image, and optionally the scaling factor.
+        """
+        h, w = img.shape[:2]
+        new_size, scale_factor = self.rescale_size((w, h), scale, return_scale=True)
+        rescaled_img = self.imresize(
+            img, new_size, interpolation=interpolation, backend=backend
+        )
+        if return_scale:
+            return rescaled_img, scale_factor
+        else:
+            return rescaled_img
+
+    def imresize(
+        self,
+        img,
+        size,
+        return_scale=False,
+        interpolation="bilinear",
+        out=None,
+        backend=None,
+    ):
+        """Resize an image to a given size.
+
+        Args:
+            img (numpy.ndarray): The input image to be resized.
+            size (tuple): The new size for the image as (height, width).
+            return_scale (bool): Whether to return the scaling factors along with the resized image.
+            interpolation (str): The interpolation method to use. Default is 'bilinear'.
+            out (numpy.ndarray, optional): Output array. If provided, it must have the same shape and dtype as the output array.
+            backend (str, optional): The backend to use for resizing. Supported backends are 'cv2' and 'pillow'.
+
+        Returns:
+            numpy.ndarray or tuple: The resized image. If return_scale is True, returns a tuple containing the resized image and the scaling factors (w_scale, h_scale).
+        """
+        cv2_interp_codes = {
+            "nearest": cv2.INTER_NEAREST,
+            "bilinear": cv2.INTER_LINEAR,
+            "bicubic": cv2.INTER_CUBIC,
+            "area": cv2.INTER_AREA,
+            "lanczos": cv2.INTER_LANCZOS4,
+        }
+        h, w = img.shape[:2]
+        if backend not in ["cv2", "pillow"]:
+            raise ValueError(
+                f"backend: {backend} is not supported for resize."
+                f"Supported backends are 'cv2', 'pillow'"
+            )
+
+        if backend == "pillow":
+            raise NotImplementedError
+        else:
+            resized_img = cv2.resize(
+                img, size, dst=out, interpolation=cv2_interp_codes[interpolation]
+            )
+        if not return_scale:
+            return resized_img
+        else:
+            w_scale = size[0] / w
+            h_scale = size[1] / h
+            return resized_img, w_scale, h_scale
+
+    def _resize_bboxes(self, results):
+        """Resize bounding boxes with `results['scale_factor']`.
+
+        Args:
+            results (dict): A dictionary containing the bounding boxes and other related information.
+        """
+        for key in results.get("bbox_fields", []):
+            bboxes = results[key] * results["scale_factor"]
+            if self.bbox_clip_border:
+                img_shape = results["img_shape"]
+                bboxes[:, 0::2] = np.clip(bboxes[:, 0::2], 0, img_shape[1])
+                bboxes[:, 1::2] = np.clip(bboxes[:, 1::2], 0, img_shape[0])
+            results[key] = bboxes
+
+    def _resize_masks(self, results):
+        """Resize masks with ``results['scale']``"""
+        raise NotImplementedError
+
+    def _resize_seg(self, results):
+        """Resize semantic segmentation map with ``results['scale']``."""
+        raise NotImplementedError
+
+    def __call__(self, results):
+        """Call function to resize images, bounding boxes, masks, and semantic segmentation maps according to the provided scale or scale factor.
+
+        Args:
+            results (dict): A dictionary containing the input data, including 'img', 'scale', and optionally 'scale_factor'.
+
+        Returns:
+            dict: A dictionary with the resized data.
+        """
+        if "scale" not in results:
+            if "scale_factor" in results:
+                img_shape = results["img"][0].shape[:2]
+                scale_factor = results["scale_factor"]
+                assert isinstance(scale_factor, float)
+                results["scale"] = list(
+                    [int(x * scale_factor) for x in img_shape][::-1]
+                )
+            else:
+                self._random_scale(results)
+        else:
+            if not self.override:
+                assert (
+                    "scale_factor" not in results
+                ), "scale and scale_factor cannot be both set."
+            else:
+                results.pop("scale")
+                if "scale_factor" in results:
+                    results.pop("scale_factor")
+                self._random_scale(results)
+
+        self._resize_img(results)
+        self._resize_bboxes(results)
+        return results
+
+
+@benchmark.timeit
+@class_requires_deps("opencv-contrib-python")
+class NormalizeImage:
+    """Normalize the image."""
+
+    """Normalize an image by subtracting the mean and dividing by the standard deviation.
+
+    Args:
+        mean (list or tuple): Mean values for each channel.
+        std (list or tuple): Standard deviation values for each channel.
+        to_rgb (bool): Whether to convert the image from BGR to RGB.
+    """
+
+    def __init__(self, mean, std, to_rgb=True):
+        """Initializes the NormalizeImage class with mean, std, and to_rgb parameters."""
+        self.mean = np.array(mean, dtype=np.float32)
+        self.std = np.array(std, dtype=np.float32)
+        self.to_rgb = to_rgb
+
+    def _imnormalize(self, img, mean, std, to_rgb=True):
+        """Normalize the given image inplace.
+
+        Args:
+            img (numpy.ndarray): The image to normalize.
+            mean (numpy.ndarray): Mean values for normalization.
+            std (numpy.ndarray): Standard deviation values for normalization.
+            to_rgb (bool): Whether to convert the image from BGR to RGB.
+
+        Returns:
+            numpy.ndarray: The normalized image.
+        """
+        img = img.copy().astype(np.float32)
+        mean = np.float64(mean.reshape(1, -1))
+        stdinv = 1 / np.float64(std.reshape(1, -1))
+        if to_rgb:
+            cv2.cvtColor(img, cv2.COLOR_BGR2RGB, img)  # inplace
+        cv2.subtract(img, mean, img)  # inplace
+        cv2.multiply(img, stdinv, img)  # inplace
+        return img
+
+    def __call__(self, results):
+        """Call method to normalize images in the results dictionary.
+
+        Args:
+            results (dict): A dictionary containing image fields to normalize.
+
+        Returns:
+            dict: The results dictionary with normalized images.
+        """
+        for key in results.get("img_fields", ["img"]):
+            if key == "img_depth":
+                continue
+            for idx in range(len(results["img"])):
+                results[key][idx] = self._imnormalize(
+                    results[key][idx], self.mean, self.std, self.to_rgb
+                )
+        results["img_norm_cfg"] = dict(mean=self.mean, std=self.std, to_rgb=self.to_rgb)
+        return results
+
+
+@benchmark.timeit
+@class_requires_deps("opencv-contrib-python")
+class PadImage(object):
+    """Pad the image & mask."""
+
+    def __init__(self, size=None, size_divisor=None, pad_val=0):
+        self.size = size
+        self.size_divisor = size_divisor
+        self.pad_val = pad_val
+        # only one of size and size_divisor should be valid
+        assert size is not None or size_divisor is not None
+        assert size is None or size_divisor is None
+
+    def impad(
+        self, img, *, shape=None, padding=None, pad_val=0, padding_mode="constant"
+    ):
+        """Pad the given image to a certain shape or pad on all sides
+
+        Args:
+            img (numpy.ndarray): The input image to be padded.
+            shape (tuple, optional): Desired output shape in the form (height, width). One of shape or padding must be specified.
+            padding (int, tuple, optional): Number of pixels to pad on each side of the image. If a single int is provided this
+                is used to pad all sides with this value. If a tuple of length 2 is provided this is interpreted as (top_bottom, left_right).
+                If a tuple of length 4 is provided this is interpreted as (top, right, bottom, left).
+            pad_val (int, list, optional): Pixel value used for padding. If a list is provided, it must have the same length as the
+                last dimension of the input image. Defaults to 0.
+            padding_mode (str, optional): Padding mode to use. One of 'constant', 'edge', 'reflect', 'symmetric'.
+                Defaults to 'constant'.
+
+        Returns:
+            numpy.ndarray: The padded image.
+
+        """
+
+        assert (shape is not None) ^ (padding is not None)
+        if shape is not None:
+            padding = [0, 0, shape[1] - img.shape[1], shape[0] - img.shape[0]]
+
+        # check pad_val
+        if isinstance(pad_val, list):
+            assert len(pad_val) == img.shape[-1]
+        elif not isinstance(pad_val, numbers.Number):
+            raise TypeError(
+                "pad_val must be a int or a list. " f"But received {type(pad_val)}"
+            )
+
+        # check padding
+        if isinstance(padding, list) and len(padding) in [2, 4]:
+            if len(padding) == 2:
+                padding = [padding[0], padding[1], padding[0], padding[1]]
+        elif isinstance(padding, numbers.Number):
+            padding = [padding, padding, padding, padding]
+        else:
+            raise ValueError(
+                "Padding must be a int or a 2, or 4 element list."
+                f"But received {padding}"
+            )
+
+        # check padding mode
+        assert padding_mode in ["constant", "edge", "reflect", "symmetric"]
+
+        border_type = {
+            "constant": cv2.BORDER_CONSTANT,
+            "edge": cv2.BORDER_REPLICATE,
+            "reflect": cv2.BORDER_REFLECT_101,
+            "symmetric": cv2.BORDER_REFLECT,
+        }
+        img = cv2.copyMakeBorder(
+            img,
+            padding[1],
+            padding[3],
+            padding[0],
+            padding[2],
+            border_type[padding_mode],
+            value=pad_val,
+        )
+
+        return img
+
+    def impad_to_multiple(self, img, divisor, pad_val=0):
+        """
+        Pad an image to ensure each edge length is a multiple of a given number.
+
+        Args:
+            img (numpy.ndarray): The input image.
+            divisor (int): The number to which each edge length should be a multiple.
+            pad_val (int, optional): The value to pad the image with. Defaults to 0.
+
+        Returns:
+            numpy.ndarray: The padded image.
+        """
+        pad_h = int(np.ceil(img.shape[0] / divisor)) * divisor
+        pad_w = int(np.ceil(img.shape[1] / divisor)) * divisor
+        return self.impad(img, shape=(pad_h, pad_w), pad_val=pad_val)
+
+    def _pad_img(self, results):
+        """
+        Pad images according to ``self.size`` or adjust their shapes to be multiples of ``self.size_divisor``.
+
+        Args:
+            results (dict): A dictionary containing image data, with 'img_fields' as an optional key
+                pointing to a list of image field names.
+        """
+        for key in results.get("img_fields", ["img"]):
+            if self.size is not None:
+                padded_img = self.impad(
+                    results[key], shape=self.size, pad_val=self.pad_val
+                )
+            elif self.size_divisor is not None:
+                for idx in range(len(results[key])):
+                    padded_img = self.impad_to_multiple(
+                        results[key][idx], self.size_divisor, pad_val=self.pad_val
+                    )
+                    results[key][idx] = padded_img
+        results["pad_shape"] = padded_img.shape
+        results["pad_fixed_size"] = self.size
+        results["pad_size_divisor"] = self.size_divisor
+
+    def _pad_masks(self, results):
+        """Pad masks according to ``results['pad_shape']``."""
+        raise NotImplementedError
+
+    def _pad_seg(self, results):
+        """Pad semantic segmentation map according to ``results['pad_shape']``."""
+        raise NotImplementedError
+
+    def __call__(self, results):
+        """Call function to pad images, masks, semantic segmentation maps."""
+        self._pad_img(results)
+        return results
+
+
+@benchmark.timeit
+class SampleFilterByKey:
+    """Collect data from the loader relevant to the specific task."""
+
+    def __init__(
+        self,
+        keys,
+        meta_keys=(
+            "filename",
+            "ori_shape",
+            "img_shape",
+            "lidar2img",
+            "depth2img",
+            "cam2img",
+            "pad_shape",
+            "scale_factor",
+            "flip",
+            "pcd_horizontal_flip",
+            "pcd_vertical_flip",
+            "box_type_3d",
+            "img_norm_cfg",
+            "pcd_trans",
+            "sample_idx",
+            "pcd_scale_factor",
+            "pcd_rotation",
+            "pts_filename",
+            "transformation_3d_flow",
+        ),
+    ):
+        self.keys = keys
+        self.meta_keys = meta_keys
+
+    def __call__(self, sample):
+        """Call function to filter sample by keys. The keys in `meta_keys` are used to filter metadata from the input sample.
+
+        Args:
+            sample (Sample): The input sample to be filtered.
+
+        Returns:
+            Sample: A new Sample object containing only the filtered metadata and specified keys.
+        """
+        filtered_sample = Sample(path=sample.path, modality=sample.modality)
+        filtered_sample.meta.id = sample.meta.id
+        img_metas = {}
+
+        for key in self.meta_keys:
+            if key in sample:
+                img_metas[key] = sample[key]
+
+        filtered_sample["img_metas"] = img_metas
+        for key in self.keys:
+            filtered_sample[key] = sample[key]
+
+        return filtered_sample
+
+
+@benchmark.timeit
+class GetInferInput:
+    """Collect infer input data from transformed sample"""
+
+    def collate_fn(self, batch):
+        sample = batch[0]
+        collated_batch = {}
+        collated_fields = [
+            "img",
+            "points",
+            "img_metas",
+            "gt_bboxes_3d",
+            "gt_labels_3d",
+            "modality",
+            "meta",
+            "idx",
+            "img_depth",
+        ]
+        for k in list(sample.keys()):
+            if k not in collated_fields:
+                continue
+            if k == "img":
+                collated_batch[k] = np.stack([elem[k] for elem in batch], axis=0)
+            elif k == "img_depth":
+                collated_batch[k] = np.stack(
+                    [np.stack(elem[k], axis=0) for elem in batch], axis=0
+                )
+            else:
+                collated_batch[k] = [elem[k] for elem in batch]
+        return collated_batch
+
+    def __call__(self, sample):
+        """Call function to infer input data from transformed sample
+
+        Args:
+            sample (Sample): The input sample data.
+
+        Returns:
+            infer_input (list): A list containing all the input data for inference.
+            sample_id (str): token id of the input sample.
+        """
+        if sample.modality == "multimodal" or sample.modality == "multiview":
+            if "img" in sample.keys():
+                sample.img = np.stack(
+                    [img.transpose(2, 0, 1) for img in sample.img], axis=0
+                )
+
+        sample = self.collate_fn([sample])
+        infer_input = []
+
+        img = sample.get("img", None)[0]
+        infer_input.append(img.astype(np.float32))
+        lidar2img = np.stack(sample["img_metas"][0]["lidar2img"]).astype(np.float32)
+        infer_input.append(lidar2img)
+        points = sample.get("points", None)[0]
+        infer_input.append(points.astype(np.float32))
+        img_metas = {
+            "input_lidar_path": sample["img_metas"][0]["pts_filename"],
+            "input_img_paths": sample["img_metas"][0]["filename"],
+            "sample_id": sample["img_metas"][0]["sample_idx"],
+        }
+
+        return infer_input, img_metas