repo stringlengths 1 99 | file stringlengths 13 215 | code stringlengths 12 59.2M | file_length int64 12 59.2M | avg_line_length float64 3.82 1.48M | max_line_length int64 12 2.51M | extension_type stringclasses 1
value |
|---|---|---|---|---|---|---|
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py | _base_ = [
'../_base_/models/hv_pointpillars_fpn_nus.py',
'../_base_/datasets/nus-3d.py',
'../_base_/schedules/schedule_2x.py',
'../_base_/default_runtime.py',
]
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
ar... | 793 | 30.76 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py | _base_ = [
'../_base_/models/hv_pointpillars_fpn_lyft.py',
'../_base_/datasets/lyft-3d.py',
'../_base_/schedules/schedule_2x.py',
'../_base_/default_runtime.py',
]
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
... | 795 | 30.84 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py | _base_ = [
'../_base_/models/hv_pointpillars_fpn_range100_lyft.py',
'../_base_/datasets/range100_lyft-3d.py',
'../_base_/schedules/schedule_2x.py',
'../_base_/default_runtime.py',
]
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoSte... | 813 | 31.56 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/regnet/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py | _base_ = [
'../_base_/models/hv_pointpillars_fpn_nus.py',
'../_base_/datasets/nus-3d.py',
'../_base_/schedules/schedule_2x.py',
'../_base_/default_runtime.py',
]
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
ar... | 744 | 28.8 | 72 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py | _base_ = ['../_base_/schedules/cosine.py', '../_base_/default_runtime.py']
# model settings
voxel_size = [0.05, 0.05, 0.1]
point_cloud_range = [0, -40, -3, 70.4, 40, 1]
model = dict(
type='DynamicMVXFasterRCNN',
img_backbone=dict(
type='ResNet',
depth=50,
num_stages=4,
out_indi... | 8,599 | 33.126984 | 193 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/robust_test/solofusion-rr50-shortonly-fp16.py | """
R50, Short-Term Only, No CBGS
No Phase 1 pre-training for short-term only.
Released Checkpoint Results:
mAP: 0.3439 ... | 16,456 | 37.450935 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/robust_test/solofusion-rr50-fp16-cbgs_phase2.py | """
R50, Long-Term, Short-Term, CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed. Training
Phase 1 for 6 non-CBGS epochs is sufficient to initialize the model.
Phase 2: We load Part 1 weights and co... | 17,234 | 37.730337 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/robust_test/solofusion-r50-fp16_phase2.py | """
R50, Long-Term, Short-Term, No CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch tr... | 16,940 | 37.678082 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/robust_test/solofusion-rr50-longonly-fp16_phase2.py | """
R50, Long-Term Only, No CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch training ... | 16,701 | 37.662037 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/bevdepth/bevdepth-r50.py | # Copyright (c) Phigent Robotics. All rights reserved.
_base_ = ['../_base_/datasets/nus-3d.py',
'../_base_/default_runtime.py']
# Global
# If point cloud range is changed, the models should also change their point
# cloud range accordingly
point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
# For nuSc... | 9,241 | 34.683398 | 92 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/bevdepth/bevdepth4d-r50.py | # Copyright (c) Phigent Robotics. All rights reserved.
_base_ = ['../_base_/datasets/nus-3d.py',
'../_base_/default_runtime.py']
# Global
# If point cloud range is changed, the models should also change their point
# cloud range accordingly
point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
# For nuSc... | 10,596 | 36.182456 | 103 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/_base_/models/cascade_mask_rcnn_r50_fpn.py | # model settings
model = dict(
type='CascadeRCNN',
pretrained='torchvision://resnet50',
backbone=dict(
type='ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=True),
norm_eval=True,
... | 6,976 | 33.711443 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/_base_/models/mask_rcnn_r50_fpn.py | # model settings
model = dict(
type='MaskRCNN',
pretrained='torchvision://resnet50',
backbone=dict(
type='ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=True),
norm_eval=True,
... | 4,080 | 31.648 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/_base_/models/fcos3d.py | model = dict(
type='FCOSMono3D',
pretrained='open-mmlab://detectron2/resnet101_caffe',
backbone=dict(
type='ResNet',
depth=101,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=False),
norm_eval=True,
... | 2,279 | 29.4 | 77 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/_base_/models/imvotenet_image.py | model = dict(
type='ImVoteNet',
img_backbone=dict(
type='ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=False),
norm_eval=True,
style='caffe'),
img_neck=dict(
type='FPN... | 3,563 | 31.697248 | 77 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/_base_/schedules/cyclic_40e.py | # The schedule is usually used by models trained on KITTI dataset
# The learning rate set in the cyclic schedule is the initial learning rate
# rather than the max learning rate. Since the target_ratio is (10, 1e-4),
# the learning rate will change from 0.0018 to 0.018, than go to 0.0018*1e-4
lr = 0.0018
# The optimiz... | 1,572 | 48.15625 | 150 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-fp16-cbgs_phase2.py | """
R50, Long-Term, Short-Term, CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed. Training
Phase 1 for 6 non-CBGS epochs is sufficient to initialize the model.
Phase 2: We load Part 1 weights and co... | 16,473 | 36.697941 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-fp16_phase1.py | """
R50, Long-Term, Short-Term, No CBGS; (Phase 1)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch tr... | 15,196 | 36.339066 | 80 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-fp16_phase2.py | """
R50, Long-Term, Short-Term, No CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch tr... | 16,223 | 36.730233 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-longonly-fp16_phase1.py | """
R50, Long-Term Only, No CBGS; (Phase 1)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch training ... | 14,913 | 36.19202 | 80 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-fp16-cbgs_phase1.py | """
R50, Long-Term, Short-Term, CBGS; (Phase 1)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed. Training
Phase 1 for 6 non-CBGS epochs is sufficient to initialize the model.
Phase 2: We load Part 1 weights and co... | 15,429 | 36.270531 | 80 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-longonly-fp16_phase2.py | """
R50, Long-Term Only, No CBGS; (Phase 2)
Phase 1: We pre-train without long-term fusion for 6 epochs, similar to what is
done in NeuralRecon. The concatenation module is simply bypassed.
Phase 2: We load Part 1 weights and continue training for for the remaining 18
epochs, completing the 24-epoch training ... | 15,949 | 36.617925 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/solofusion/r50-shortonly-fp16.py | """
R50, Short-Term Only, No CBGS
No Phase 1 pre-training for short-term only.
Released Checkpoint Results:
mAP: 0.3439 ... | 15,704 | 36.392857 | 364 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/imvoxelnet/imvoxelnet_4x8_kitti-3d-car.py | model = dict(
type='ImVoxelNet',
backbone=dict(
type='ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=False),
norm_eval=True,
init_cfg=dict(type='Pretrained', checkpoint='torchvisio... | 5,125 | 30.838509 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py | _base_ = './hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py'
model = dict(
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_1.6gf',
init_cfg=dict(
type='Pretrained', checkpoint='open-mmlab://regnetx_1.6gf'),
out_indices=(1, 2, 3),
... | 2,504 | 34.28169 | 76 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py | _base_ = './hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py'
model = dict(
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_400mf',
init_cfg=dict(
type='Pretrained', checkpoint='open-mmlab://regnetx_400mf'),
out_indices=(1, 2, 3),
... | 593 | 30.263158 | 72 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py | _base_ = './hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py'
model = dict(
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_3.2gf',
init_cfg=dict(
type='Pretrained', checkpoint='open-mmlab://regnetx_3.2gf'),
out_indices=(1, 2, 3),
... | 2,503 | 34.267606 | 76 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py | _base_ = './hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py'
model = dict(
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_1.6gf',
init_cfg=dict(
type='Pretrained', checkpoint='open-mmlab://regnetx_1.6gf'),
out_indices=(1, 2, 3),
... | 594 | 30.315789 | 72 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py | _base_ = './hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py'
model = dict(
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_3.2gf',
init_cfg=dict(
type='Pretrained', checkpoint='open-mmlab://regnetx_3.2gf'),
out_indices=(1, 2, 3),
... | 595 | 30.368421 | 72 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/bevdet/bevdet-r50.py | # Copyright (c) Phigent Robotics. All rights reserved.
_base_ = ['../_base_/datasets/nus-3d.py',
'../_base_/default_runtime.py']
# Global
# If point cloud range is changed, the models should also change their point
# cloud range accordingly
point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
# For nuSc... | 8,482 | 33.766393 | 92 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py | _base_ = './hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py'
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch=dict(w0=24, wa=24.48, wm=2.54, group_w=16, depth=22, bot_mul=1.0),
init_cfg=dict(
type='Pretrained', c... | 668 | 32.45 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/configs/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py | _base_ = './hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py'
# model settings
model = dict(
type='MVXFasterRCNN',
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch=dict(w0=24, wa=24.48, wm=2.54, group_w=16, depth=22, bot_mul=1.0),
init_cfg=dict(
type='Pretrained', ... | 738 | 32.590909 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/docs/conf.py | # Configuration file for the Sphinx documentation builder.
#
# This file only contains a selection of the most common options. For a full
# list see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Path setup --------------------------------------------------------------
# If ex... | 6,403 | 31.02 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/apis/inference.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import numpy as np
import re
import torch
from copy import deepcopy
from mmcv.parallel import collate, scatter
from mmcv.runner import load_checkpoint
from os import path as osp
from mmdet3d.core import (Box3DMode, CameraInstance3DBoxes,
... | 16,723 | 33.0611 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/apis/test.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import torch
from mmcv.image import tensor2imgs
from os import path as osp
from mmdet3d.models import (Base3DDetector, Base3DSegmentor,
SingleStageMono3DDetector)
def single_gpu_test(model,
data_loader,
... | 3,108 | 35.576471 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/apis/mmdet_train.py | # https://raw.githubusercontent.com/open-mmlab/mmdetection/v2.14.0/mmdet/apis/train.py
import random
import warnings
import numpy as np
import torch
from mmcv.parallel import MMDataParallel, MMDistributedDataParallel
from mmcv.runner import (HOOKS, DistSamplerSeedHook, EpochBasedRunner,
Fp16O... | 6,751 | 36.72067 | 90 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/evaluation/seg_eval.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
from mmcv.utils import print_log
from terminaltables import AsciiTable
def fast_hist(preds, labels, num_classes):
"""Compute the confusion matrix for every batch.
Args:
preds (np.ndarray): Prediction labels of points with shape of
... | 3,743 | 27.363636 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/evaluation/indoor_eval.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmcv.utils import print_log
from terminaltables import AsciiTable
def average_precision(recalls, precisions, mode='area'):
"""Calculate average precision (for single or multiple scales).
Args:
recalls (np.ndarray): R... | 11,085 | 34.646302 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/evaluation/kitti_utils/rotate_iou.py | # Copyright (c) OpenMMLab. All rights reserved.
#####################
# Based on https://github.com/hongzhenwang/RRPN-revise
# Licensed under The MIT License
# Author: yanyan, scrin@foxmail.com
#####################
import math
import numba
import numpy as np
from numba import cuda
@numba.jit(nopython=True)
def div_u... | 13,315 | 34.042105 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/post_processing/merge_augs.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.ops.iou3d.iou3d_utils import nms_gpu, nms_normal_gpu
from ..bbox import bbox3d2result, bbox3d_mapping_back, xywhr2xyxyr
def merge_aug_bboxes_3d(aug_results, img_metas, test_cfg):
"""Merge augmented detection 3D bboxes and scores.
Args... | 3,495 | 36.591398 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/post_processing/box3d_nms.py | # Copyright (c) OpenMMLab. All rights reserved.
import numba
import numpy as np
import torch
from mmdet3d.ops.iou3d.iou3d_utils import nms_gpu, nms_normal_gpu
def box3d_multiclass_nms(mlvl_bboxes,
mlvl_bboxes_for_nms,
mlvl_scores,
score_thr,
... | 8,007 | 35.235294 | 77 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/box_np_ops.py | # Copyright (c) OpenMMLab. All rights reserved.
# TODO: clean the functions in this file and move the APIs into box structures
# in the future
import numba
import numpy as np
def camera_to_lidar(points, r_rect, velo2cam):
"""Convert points in camera coordinate to lidar coordinate.
Args:
points (np.n... | 33,537 | 36.389075 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/transforms.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
def bbox3d_mapping_back(bboxes, scale_factor, flip_horizontal, flip_vertical):
"""Map bboxes from testing scale to original image scale.
Args:
bboxes (:obj:`BaseInstance3DBoxes`): Boxes to be mapped back.
scale_factor (float): Scale... | 2,414 | 30.363636 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet.core.bbox import bbox_overlaps
from mmdet.core.bbox.iou_calculators.builder import IOU_CALCULATORS
from ..structures import get_box_type
@IOU_CALCULATORS.register_module()
class BboxOverlapsNearest3D(object):
"""Nearest 3D IoU Calculator.
... | 12,522 | 37.891304 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/samplers/iou_neg_piecewise_sampler.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet.core.bbox.builder import BBOX_SAMPLERS
from . import RandomSampler, SamplingResult
@BBOX_SAMPLERS.register_module()
class IoUNegPiecewiseSampler(RandomSampler):
"""IoU Piece-wise Sampling.
Sampling negtive proposals according to a list ... | 6,861 | 42.157233 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/coders/anchor_free_bbox_coder.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet.core.bbox.builder import BBOX_CODERS
from .partial_bin_based_bbox_coder import PartialBinBasedBBoxCoder
@BBOX_CODERS.register_module()
class AnchorFreeBBoxCoder(PartialBinBasedBBoxCoder):
"""Anchor free bbox coder for 3D b... | 4,367 | 32.343511 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/coders/groupfree3d_bbox_coder.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet.core.bbox.builder import BBOX_CODERS
from .partial_bin_based_bbox_coder import PartialBinBasedBBoxCoder
@BBOX_CODERS.register_module()
class GroupFree3DBBoxCoder(PartialBinBasedBBoxCoder):
"""Modified partial bin based bbo... | 7,202 | 36.712042 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/coders/delta_xyzwhlr_bbox_coder.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet.core.bbox import BaseBBoxCoder
from mmdet.core.bbox.builder import BBOX_CODERS
@BBOX_CODERS.register_module()
class DeltaXYZWLHRBBoxCoder(BaseBBoxCoder):
"""Bbox Coder for 3D boxes.
Args:
code_size (int): The dimension of boxes ... | 3,122 | 32.945652 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/coders/centerpoint_bbox_coders.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet.core.bbox import BaseBBoxCoder
from mmdet.core.bbox.builder import BBOX_CODERS
@BBOX_CODERS.register_module()
class CenterPointBBoxCoder(BaseBBoxCoder):
"""Bbox coder for CenterPoint.
Args:
pc_range (list[float]): Range of point... | 8,591 | 36.519651 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/coders/partial_bin_based_bbox_coder.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet.core.bbox import BaseBBoxCoder
from mmdet.core.bbox.builder import BBOX_CODERS
@BBOX_CODERS.register_module()
class PartialBinBasedBBoxCoder(BaseBBoxCoder):
"""Partial bin based bbox coder.
Args:
num_dir_bins ... | 9,146 | 36.797521 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/depth_box3d.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet3d.core.points import BasePoints
from mmdet3d.ops import points_in_boxes_batch
from .base_box3d import BaseInstance3DBoxes
from .utils import limit_period, rotation_3d_in_axis
class DepthInstance3DBoxes(BaseInstance3DBoxes):
... | 13,666 | 38.729651 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/cam_box3d.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet3d.core.points import BasePoints
from .base_box3d import BaseInstance3DBoxes
from .utils import limit_period, rotation_3d_in_axis
class CameraInstance3DBoxes(BaseInstance3DBoxes):
"""3D boxes of instances in CAM coordinates... | 12,716 | 38.129231 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/base_box3d.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from abc import abstractmethod
from mmdet3d.ops.iou3d import iou3d_cuda
from .utils import limit_period, xywhr2xyxyr
class BaseInstance3DBoxes(object):
"""Base class for 3D Boxes.
Note:
The box is bottom centered, i.e. t... | 16,502 | 34.720779 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/utils.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from logging import warning
def limit_period(val, offset=0.5, period=np.pi):
"""Limit the value into a period for periodic function.
Args:
val (torch.Tensor): The value to be converted.
offset (float, optional): O... | 7,682 | 34.734884 | 131 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/box_3d_mode.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from enum import IntEnum, unique
from .base_box3d import BaseInstance3DBoxes
from .cam_box3d import CameraInstance3DBoxes
from .depth_box3d import DepthInstance3DBoxes
from .lidar_box3d import LiDARInstance3DBoxes
@unique
class Box3DMode... | 6,034 | 35.137725 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/lidar_box3d.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmdet3d.core.points import BasePoints
from mmdet3d.ops.roiaware_pool3d import points_in_boxes_gpu
from .base_box3d import BaseInstance3DBoxes
from .utils import limit_period, rotation_3d_in_axis
class LiDARInstance3DBoxes(BaseInstan... | 10,528 | 37.852399 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/bbox/structures/coord_3d_mode.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from enum import IntEnum, unique
from mmdet3d.core.points import (BasePoints, CameraPoints, DepthPoints,
LiDARPoints)
from .base_box3d import BaseInstance3DBoxes
from .cam_box3d import CameraInstance3DBoxes... | 10,929 | 37.758865 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/points/cam_points.py | # Copyright (c) OpenMMLab. All rights reserved.
from .base_points import BasePoints
class CameraPoints(BasePoints):
"""Points of instances in CAM coordinates.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int): Number of the dimension of a point.
... | 2,866 | 39.380282 | 76 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/points/base_points.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
import warnings
from abc import abstractmethod
class BasePoints(object):
"""Base class for Points.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int): Number of the dimensio... | 16,655 | 37.114416 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/points/lidar_points.py | # Copyright (c) OpenMMLab. All rights reserved.
from .base_points import BasePoints
class LiDARPoints(BasePoints):
"""Points of instances in LIDAR coordinates.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int): Number of the dimension of a point.
... | 2,868 | 39.408451 | 76 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/points/depth_points.py | # Copyright (c) OpenMMLab. All rights reserved.
from .base_points import BasePoints
class DepthPoints(BasePoints):
"""Points of instances in DEPTH coordinates.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int): Number of the dimension of a point.
... | 2,868 | 39.408451 | 76 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/utils/gaussian.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
def gaussian_2d(shape, sigma=1):
"""Generate gaussian map.
Args:
shape (list[int]): Shape of the map.
sigma (float): Sigma to generate gaussian map.
Defaults to 1.
Returns:
np.ndarray: Gen... | 2,538 | 28.183908 | 74 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/visualizer/open3d_vis.py | # Copyright (c) OpenMMLab. All rights reserved.
import copy
import numpy as np
import torch
try:
import open3d as o3d
from open3d import geometry
except ImportError:
raise ImportError(
'Please run "pip install open3d" to install open3d first.')
def _draw_points(points,
vis,
... | 17,728 | 38.93018 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/visualizer/image_vis.py | # Copyright (c) OpenMMLab. All rights reserved.
import copy
import cv2
import numpy as np
import torch
from matplotlib import pyplot as plt
def project_pts_on_img(points,
raw_img,
lidar2img_rt,
max_distance=70,
thickness=-1):
... | 7,761 | 38.005025 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/core/anchor/anchor_3d_generator.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import torch
from mmdet.core.anchor import ANCHOR_GENERATORS
@ANCHOR_GENERATORS.register_module()
class Anchor3DRangeGenerator(object):
"""3D Anchor Generator by range.
This anchor generator generates anchors by the given range in different
fea... | 17,177 | 41.414815 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/base.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import torch
from mmcv.parallel import DataContainer as DC
from mmcv.runner import auto_fp16
from os import path as osp
from mmdet3d.core import Box3DMode, Coord3DMode, show_result
from mmdet.models.detectors import BaseDetector
class Base3DDetector(BaseDet... | 4,877 | 43.752294 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/single_stage.py | # Copyright (c) OpenMMLab. All rights reserved.
from mmdet.models import DETECTORS, build_backbone, build_head, build_neck
from .base import Base3DDetector
@DETECTORS.register_module()
class SingleStage3DDetector(Base3DDetector):
"""SingleStage3DDetector.
This class serves as a base class for single-stage 3D... | 2,416 | 32.569444 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/voxelnet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.runner import force_fp32
from torch.nn import functional as F
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet3d.ops import Voxelization
from mmdet.models import DETECTORS
from .. import builder
from .single_stage import Singl... | 4,925 | 36.603053 | 75 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/bevdet.py | # Copyright (c) Phigent Robotics. All rights reserved.
import torch
from mmcv.runner import force_fp32
import torch.nn.functional as F
from mmdet.models import DETECTORS
from .centerpoint import CenterPoint
from .. import builder
@DETECTORS.register_module()
class BEVDet(CenterPoint):
def __init__(self, img_vie... | 25,532 | 44.19115 | 114 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/solofusion.py | import os
import copy
import math
import pdb
import torch
import torch.nn as nn
import torch.nn.functional as F
from mmcv.runner import force_fp32, auto_fp16
from mmcv.ops.nms import batched_nms
from mmdet.models import DETECTORS
from mmdet.core.post_processing.bbox_nms import multiclass_nms
from mmdet3d.ops import be... | 22,900 | 48.249462 | 165 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/votenet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet.models import DETECTORS
from .single_stage import SingleStage3DDetector
@DETECTORS.register_module()
class VoteNet(SingleStage3DDetector):
r"""`VoteNet <https://arxiv.org/pdf/1904.0... | 3,996 | 36.009259 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/h3dnet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.core import merge_aug_bboxes_3d
from mmdet.models import DETECTORS
from .two_stage import TwoStage3DDetector
@DETECTORS.register_module()
class H3DNet(TwoStage3DDetector):
r"""H3DNet model.
Please refer to the `paper <https://arxiv.or... | 6,780 | 37.310734 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/imvoxelnet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.core import bbox3d2result, build_prior_generator
from mmdet3d.models.fusion_layers.point_fusion import point_sample
from mmdet.models import DETECTORS, build_backbone, build_head, build_neck
from mmdet.models.detectors import BaseDetector
@DET... | 4,949 | 34.611511 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/single_stage_mono3d.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import numpy as np
import torch
from mmcv.parallel import DataContainer as DC
from os import path as osp
from mmdet3d.core import (CameraInstance3DBoxes, bbox3d2result,
show_multi_modality_result)
from mmdet.models.builder import DET... | 9,159 | 40.826484 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/groupfree3dnet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet.models import DETECTORS
from .single_stage import SingleStage3DDetector
@DETECTORS.register_module()
class GroupFree3DNet(SingleStage3DDetector):
"""`Group-Free 3D <https://arxiv.or... | 4,020 | 36.933962 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/dynamic_voxelnet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.runner import force_fp32
from torch.nn import functional as F
from mmdet.models import DETECTORS
from .voxelnet import VoxelNet
@DETECTORS.register_module()
class DynamicVoxelNet(VoxelNet):
r"""VoxelNet using `dynamic voxelization <https://ar... | 2,306 | 31.041667 | 82 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/mvx_two_stage.py | # Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import torch
import warnings
from mmcv.parallel import DataContainer as DC
from mmcv.runner import force_fp32
from os import path as osp
from torch.nn import functional as F
from mmdet3d.core import (Box3DMode, Coord3DMode, bbox3d2result,
... | 20,902 | 40.474206 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/mvx_faster_rcnn.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.runner import force_fp32
from torch.nn import functional as F
from mmdet.models import DETECTORS
from .mvx_two_stage import MVXTwoStageDetector
@DETECTORS.register_module()
class MVXFasterRCNN(MVXTwoStageDetector):
"""Multi-modality VoxelNet ... | 2,042 | 31.951613 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/imvotenet.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
import warnings
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet3d.models.utils import MLP
from mmdet.models import DETECTORS
from .. import builder
from .base import Base3DDetector
def sample_valid_seeds(mask, num_... | 35,185 | 41.962149 | 138 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/parta2.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from torch.nn import functional as F
from mmdet3d.ops import Voxelization
from mmdet.models import DETECTORS
from .. import builder
from .two_stage import TwoStage3DDetector
@DETECTORS.register_module()
class PartA2(TwoStage3DDetector):
r"""Part-A2 det... | 5,831 | 37.368421 | 77 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/detectors/centerpoint.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet.models import DETECTORS
from .mvx_two_stage import MVXTwoStageDetector
@DETECTORS.register_module()
class CenterPoint(MVXTwoStageDetector):
"""Base class of Multi-modality VoxelNet.... | 8,315 | 41.428571 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/middle_encoders/pillar_scatter.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.runner import auto_fp16
from torch import nn
from ..builder import MIDDLE_ENCODERS
@MIDDLE_ENCODERS.register_module()
class PointPillarsScatter(nn.Module):
"""Point Pillar's Scatter.
Converts learned features from dense tensor to sparse ... | 3,744 | 35.359223 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/middle_encoders/sparse_encoder.py | # Copyright (c) OpenMMLab. All rights reserved.
from mmcv.runner import auto_fp16
from torch import nn as nn
from mmdet3d.ops import SparseBasicBlock, make_sparse_convmodule
from mmdet3d.ops import spconv as spconv
from ..builder import MIDDLE_ENCODERS
@MIDDLE_ENCODERS.register_module()
class SparseEncoder(nn.Module... | 8,258 | 39.287805 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/middle_encoders/sparse_unet.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.runner import BaseModule, auto_fp16
from mmdet3d.ops import SparseBasicBlock, make_sparse_convmodule
from mmdet3d.ops import spconv as spconv
from ..builder import MIDDLE_ENCODERS
@MIDDLE_ENCODERS.register_module()
class SparseUNet(BaseModule):
... | 11,713 | 38.843537 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/voxel_encoders/pillar_encoder.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.cnn import build_norm_layer
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.ops import DynamicScatter
from ..builder import VOXEL_ENCODERS
from .utils import PFNLayer, get_paddings_indicator
@VOXEL_ENCODERS.register_module()
... | 13,156 | 41.441935 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/voxel_encoders/utils.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.cnn import build_norm_layer
from mmcv.runner import auto_fp16
from torch import nn
from torch.nn import functional as F
def get_paddings_indicator(actual_num, max_num, axis=0):
"""Create boolean mask by actually number of a padded tensor.
... | 6,795 | 36.340659 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/voxel_encoders/voxel_encoder.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.cnn import build_norm_layer
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.ops import DynamicScatter
from .. import builder
from ..builder import VOXEL_ENCODERS
from .utils import VFELayer, get_paddings_indicator
@VOXEL_ENCO... | 20,525 | 41.147844 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/view_transformer_solofusion.py |
import os
import copy
import pdb
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.cuda.amp as amp
from torch.nn.utils.rnn import pad_sequence
from scipy.ndimage import gaussian_filter1d
from mmcv.runner import BaseModule, force_fp32, auto_fp16
from mmdet3d.ops import bev_pool
from mmcv.... | 21,608 | 58.365385 | 192 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/view_transformer.py | # Copyright (c) Phigent Robotics. All rights reserved.
import torch
import torch.nn as nn
from mmcv.runner import BaseModule
from ..builder import NECKS
from mmdet3d.ops import bev_pool
from mmcv.cnn import build_conv_layer
from .. import builder
def gen_dx_bx(xbound, ybound, zbound):
dx = torch.Tensor([row[2] f... | 14,728 | 40.84375 | 110 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/imvoxel_neck.py | # Copyright (c) OpenMMLab. All rights reserved.
from mmcv.cnn import ConvModule
from torch import nn
from mmdet.models import NECKS
@NECKS.register_module()
class OutdoorImVoxelNeck(nn.Module):
"""Neck for ImVoxelNet outdoor scenario.
Args:
in_channels (int): Input channels of multi-scale feature ma... | 3,303 | 28.765766 | 71 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/fpn.py | import torch.nn as nn
import torch.nn.functional as F
from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule, auto_fp16
from ..builder import NECKS
@NECKS.register_module()
class FPNForBEVDet(BaseModule):
r"""Feature Pyramid Network.
This is an implementation of paper `Feature Pyramid Networks f... | 8,757 | 41.721951 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/second_fpn.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
import torch
from mmcv.cnn import build_conv_layer, build_norm_layer, build_upsample_layer
from mmcv.runner import BaseModule, auto_fp16
from torch import nn as nn
from mmdet.models import NECKS
@NECKS.register_module()
class SECONDFPN(BaseModule):
... | 4,249 | 38.351852 | 147 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/necks/lss_fpn.py | # Copyright (c) Phigent Robotics. All rights reserved.
import torch
import torch.nn as nn
from mmcv.cnn import build_norm_layer
from mmdet.models import NECKS
@NECKS.register_module()
class FPN_LSS(nn.Module):
def __init__(self, in_channels, out_channels, scale_factor=4,
input_feature_index = (0... | 2,497 | 39.95082 | 110 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/fusion_layers/coord_transform.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from functools import partial
from mmdet3d.core.points import get_points_type
def apply_3d_transformation(pcd, coord_type, img_meta, reverse=False):
"""Apply transformation to input point cloud.
Args:
pcd (torch.Tensor): The point cloud to... | 7,653 | 34.435185 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/fusion_layers/point_fusion.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule
from torch import nn as nn
from torch.nn import functional as F
from mmdet3d.core.bbox.structures import (get_proj_mat_by_coord_type,
points_cam2img)... | 12,269 | 38.967427 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/fusion_layers/vote_fusion.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from torch import nn as nn
from mmdet3d.core.bbox import points_cam2img
from ..builder import FUSION_LAYERS
from . import apply_3d_transformation, bbox_2d_transform, coord_2d_transform
EPS = 1e-6
@FUSION_LAYERS.register_module()
class VoteFusion(nn.Module... | 8,945 | 43.507463 | 78 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/decode_heads/paconv_head.py | # Copyright (c) OpenMMLab. All rights reserved.
from mmcv.cnn.bricks import ConvModule
from mmdet.models import HEADS
from .pointnet2_head import PointNet2Head
@HEADS.register_module()
class PAConvHead(PointNet2Head):
r"""PAConv decoder head.
Decoder head used in `PAConv <https://arxiv.org/abs/2103.14635>`_... | 2,229 | 33.84375 | 108 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/decode_heads/decode_head.py | # Copyright (c) OpenMMLab. All rights reserved.
from abc import ABCMeta, abstractmethod
from mmcv.cnn import normal_init
from mmcv.runner import BaseModule, auto_fp16, force_fp32
from torch import nn as nn
from mmseg.models.builder import build_loss
class Base3DDecodeHead(BaseModule, metaclass=ABCMeta):
"""Base ... | 4,377 | 34.885246 | 79 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/decode_heads/pointnet2_head.py | # Copyright (c) OpenMMLab. All rights reserved.
from mmcv.cnn.bricks import ConvModule
from torch import nn as nn
from mmdet3d.ops import PointFPModule
from mmdet.models import HEADS
from .decode_head import Base3DDecodeHead
@HEADS.register_module()
class PointNet2Head(Base3DDecodeHead):
r"""PointNet2 decoder he... | 2,894 | 32.662791 | 93 | py |
RoboBEV | RoboBEV-master/zoo/SOLOFusion/mmdet3d/models/dense_heads/anchor_free_mono3d_head.py | # Copyright (c) OpenMMLab. All rights reserved.
import torch
from abc import abstractmethod
from mmcv.cnn import ConvModule, bias_init_with_prob, normal_init
from mmcv.runner import force_fp32
from torch import nn as nn
from mmdet.core import multi_apply
from mmdet.models.builder import HEADS, build_loss
from .base_mo... | 21,487 | 41.89022 | 79 | py |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.