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
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RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/core/bbox/iou_calculators/iou3d_calculator.py | import torch
from mmdet.core.bbox import bbox_overlaps
from mmdet.core.bbox.iou_calculators.builder import IOU_CALCULATORS
from mmdet3d.core.bbox.structures import get_box_type
@IOU_CALCULATORS.register_module()
class BboxOverlapsNearest3D(object):
"""Nearest 3D IoU Calculator.
Note:
This IoU calculat... | 12,468 | 40.702341 | 79 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/core/bbox/coders/nms_free_coder.py | # ------------------------------------------------------------------------
# Copyright (c) 2021 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 8,990 | 37.587983 | 109 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/detectors/obj_dgcnn.py | import torch
from mmdet.models import DETECTORS
from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
from mmdet3d.models.detectors.mvx_two_stage import MVXTwoStageDetector
@DETECTORS.register_module()
class ObjDGCNN(MVXTwoStageDetector):
"""Base class of Multi-modality VoxelNet."""
def __init__(self,... | 8,239 | 43.064171 | 78 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/detectors/petr3d.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 9,920 | 41.579399 | 98 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/detectors/petr3d_seg.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 16,163 | 40.984416 | 153 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/detectors/detr3d.py | import torch
from mmcv.runner import force_fp32, auto_fp16
from mmdet.models import DETECTORS
from mmdet3d.core import bbox3d2result
from mmdet3d.models.detectors.mvx_two_stage import MVXTwoStageDetector
from projects.mmdet3d_plugin.models.utils.grid_mask import GridMask
@DETECTORS.register_module()
class Detr3D(MVX... | 9,226 | 41.520737 | 98 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/detectors/mspetr3d.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 11,177 | 43.007874 | 310 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/necks/cp_fpn.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from mmdetection (https://github.com/open-mmlab/mmdetection)
# Copyright (c) OpenMMLab. All rights rese... | 9,220 | 43.119617 | 104 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/petrv2_head.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 38,653 | 46.312118 | 137 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/petr_head.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 35,579 | 47.474114 | 137 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/petr_head_seg.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 42,612 | 46.034216 | 137 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/dgcnn3d_head.py | import copy
import torch
import torch.nn as nn
import torch.nn.functional as F
from mmcv.cnn import Linear, bias_init_with_prob
from mmcv.runner import force_fp32, auto_fp16
from mmdet.core import multi_apply, reduce_mean
from mmdet.models.utils.transformer import inverse_sigmoid
from mmdet.mo... | 22,189 | 44.847107 | 138 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/detr3d_head.py | import copy
import torch
import torch.nn as nn
import torch.nn.functional as F
from mmcv.cnn import Linear, bias_init_with_prob
from mmcv.runner import force_fp32
from mmdet.core import (multi_apply, multi_apply, reduce_mean)
from mmdet.models.utils.transformer import inverse_sigmoid
from mmde... | 20,569 | 44.711111 | 137 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/dense_heads/petrv2_dnhead.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DN-DETR (https://github.com/IDEA-opensource/DN-DETR)
# Copyright (c) 2022 IDEA. All Rights Reserve... | 49,290 | 47.610454 | 161 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/detr.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 4,834 | 40.681034 | 81 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/petr_transformer.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 21,779 | 40.328273 | 108 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/grid_mask.py | import torch
import torch.nn as nn
import numpy as np
from PIL import Image
class Grid(object):
def __init__(self, use_h, use_w, rotate = 1, offset=False, ratio = 0.5, mode=0, prob = 1.):
self.use_h = use_h
self.use_w = use_w
self.rotate = rotate
self.offset = offset
self.ra... | 3,825 | 30.105691 | 95 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/dgcnn_attn.py | import math
import torch
import torch.nn as nn
from mmcv.cnn.bricks.registry import ATTENTION
from mmcv.runner.base_module import BaseModule
@ATTENTION.register_module()
class DGCNNAttn(BaseModule):
"""A warpper for DGCNN-type self-attention.
Args:
embed_dims (int): The embedding dimension.
n... | 3,825 | 38.443299 | 108 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/positional_encoding.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from mmdetection (https://github.com/open-mmlab/mmdetection)
# Copyright (c) OpenMMLab. All rights rese... | 7,336 | 42.934132 | 79 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/utils/detr3d_transformer.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 18,338 | 41.648837 | 103 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/losses/Sigmoid_ce_loss.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
import math
import warnings
import mmcv
import torch
import torch.nn as nn
import torch.nn.functional as F
from ... | 1,376 | 31.023256 | 105 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/backbones/vovnet.py | # ------------------------------------------------------------------------
# Copyright (c) 2021 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 12,271 | 31.041775 | 119 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/models/backbones/vovnetcp.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 12,919 | 30.666667 | 127 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/datasets/nuscenes_dataset.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 3,783 | 44.590361 | 288 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/datasets/multi_nuscenes_dataset.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 17,914 | 39.168161 | 79 | py |
RoboBEV | RoboBEV-master/zoo/PETR/projects/mmdet3d_plugin/datasets/pipelines/transform_3d.py | # ------------------------------------------------------------------------
# Copyright (c) 2022 megvii-model. All Rights Reserved.
# ------------------------------------------------------------------------
# Modified from DETR3D (https://github.com/WangYueFt/detr3d)
# Copyright (c) 2021 Wang, Yue
# --------------------... | 35,380 | 37.291126 | 130 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/setup.py | import os
import torch
from setuptools import find_packages, setup
from torch.utils.cpp_extension import BuildExtension, CppExtension, CUDAExtension
def make_cuda_ext(
name, module, sources, sources_cuda=[], extra_args=[], extra_include_path=[]
):
define_macros = []
extra_compile_args = {"cxx": [] + ext... | 5,956 | 35.323171 | 87 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/generate_dataset.py | import argparse
import os
import warnings
import time
import numpy as np
import torch
import mmcv
from mmdet3d.datasets import build_dataset, build_dataloader
from mmcv import Config, DictAction
from mmdet3d.datasets import build_dataset
from project.mmdet3d_plugin.corruptions import CORRUPTIONS
def parse_args():
... | 4,414 | 34.32 | 128 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/export.py | import argparse
import os
import time
import warnings
import mmcv
import onnx
import torch
from mmcv import Config, DictAction
from mmcv.parallel import MMDataParallel, MMDistributedDataParallel
from mmcv.runner import get_dist_info, init_dist, load_checkpoint, wrap_fp16_model
from mmdet3d.apis import single_gpu_test
... | 3,349 | 29.454545 | 82 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/test.py | import argparse
import copy
import os
import warnings
import mmcv
import torch
from torchpack.utils.config import configs
from torchpack import distributed as dist
from mmcv import Config, DictAction
from mmcv.cnn import fuse_conv_bn
from mmcv.parallel import MMDataParallel, MMDistributedDataParallel
from mmcv.runner ... | 8,394 | 35.341991 | 85 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/benchmark.py | import argparse
import time
import torch
from mmcv import Config
from mmcv.parallel import MMDataParallel
from mmcv.runner import load_checkpoint, wrap_fp16_model
from mmdet3d.datasets import build_dataloader, build_dataset
from mmdet3d.models import build_fusion_model
from torchpack.utils.config import configs
from m... | 2,848 | 30.655556 | 81 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/robust_test.py | # Copyright (c) OpenMMLab. All rights reserved.
# ---------------------------------------------
# Modified by Shaoyuan Xie
# ---------------------------------------------
import argparse
import copy
import os
import warnings
import mmcv
import torch
from torchpack.utils.config import configs
from torchpack import dis... | 9,991 | 38.03125 | 86 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/train.py | import argparse
import copy
import os
import random
import time
import numpy as np
import torch
from mmcv import Config
from torchpack import distributed as dist
from torchpack.environ import auto_set_run_dir, set_run_dir
from torchpack.utils.config import configs
from mmdet3d.apis import train_model
from mmdet3d.dat... | 2,439 | 26.727273 | 81 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/visualize.py | import argparse
import copy
import os
import mmcv
import numpy as np
import torch
from mmcv import Config
from mmcv.parallel import MMDistributedDataParallel
from mmcv.runner import load_checkpoint
from torchpack import distributed as dist
from torchpack.utils.config import configs
from torchpack.utils.tqdm import tqd... | 5,712 | 33.209581 | 85 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/test_custom.py | import argparse
import copy
import os
import warnings
import mmcv
import torch
from torchpack.utils.config import configs
from torchpack import distributed as dist
from mmcv import Config, DictAction
from mmcv.cnn import fuse_conv_bn
from mmcv.parallel import MMDataParallel, MMDistributedDataParallel
from mmcv.runner ... | 8,560 | 35.275424 | 85 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/data_converter/create_gt_database.py | import pickle
from os import path as osp
import mmcv
import numpy as np
from mmcv import track_iter_progress
from mmcv.ops import roi_align
from pycocotools import mask as maskUtils
from pycocotools.coco import COCO
from mmdet3d.core.bbox import box_np_ops as box_np_ops
from mmdet3d.datasets import build_dataset
from... | 13,076 | 34.247978 | 87 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/tools/analysis_tools/visual.py | # Based on https://github.com/nutonomy/nuscenes-devkit
# ---------------------------------------------
# Modified by Zhiqi Li
# ---------------------------------------------
# Modified by Shaoyuan Xie
# ---------------------------------------------
import mmcv
import os
from nuscenes.nuscenes import NuScenes
from PI... | 27,938 | 42.929245 | 156 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/apis/test.py | import mmcv
import torch
def single_gpu_test(model, data_loader):
model.eval()
results = []
dataset = data_loader.dataset
prog_bar = mmcv.ProgressBar(len(dataset))
for data in data_loader:
with torch.no_grad():
result = model(return_loss=False, rescale=True, **data)
res... | 459 | 23.210526 | 67 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/apis/train.py | import torch
from mmcv.parallel import MMDistributedDataParallel
from mmcv.runner import (
DistSamplerSeedHook,
EpochBasedRunner,
GradientCumulativeFp16OptimizerHook,
Fp16OptimizerHook,
OptimizerHook,
build_optimizer,
build_runner,
)
from mmdet3d.runner import CustomEpochBasedRunner
from mm... | 3,864 | 29.433071 | 81 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/post_processing/box3d_nms.py | 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,
max_num,
cfg,
mlvl_dir_scores=None,
mlvl_attr_scores=None,
mlvl_bboxes2d=None,
):
... | 7,701 | 34.009091 | 91 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/box_np_ops.py | # 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.ndarray, shape=[N, 3]): Points in camera coordina... | 32,908 | 35.852184 | 100 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/util.py | import torch
def normalize_bbox(bboxes, pc_range):
cx = bboxes[..., 0:1]
cy = bboxes[..., 1:2]
cz = bboxes[..., 2:3]
w = bboxes[..., 3:4].log()
l = bboxes[..., 4:5].log()
h = bboxes[..., 5:6].log()
rot = bboxes[..., 6:7]
if bboxes.size(-1) > 7:
vx = bboxes[..., 7:8]
v... | 1,414 | 26.745098 | 98 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/assigners/hungarian_assigner.py | from mmdet.core.bbox.builder import BBOX_ASSIGNERS
from mmdet.core.bbox.assigners import AssignResult, BaseAssigner
from mmdet.core.bbox.match_costs import build_match_cost
from mmdet.core.bbox.match_costs.builder import MATCH_COST
from mmdet.core.bbox.iou_calculators import build_iou_calculator
import torch
try:
... | 6,663 | 45.601399 | 139 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/assigners/hungarian_assigner_3d.py | import torch
from mmdet3d.core.bbox.util import normalize_bbox
from mmdet.core.bbox.assigners import AssignResult, BaseAssigner
from mmdet.core.bbox.builder import BBOX_ASSIGNERS
from mmdet.core.bbox.match_costs import build_match_cost
try:
from scipy.optimize import linear_sum_assignment
except ImportError:
... | 5,939 | 46.52 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/match_costs/match_cost.py | import torch
from mmdet.core.bbox.match_costs.builder import MATCH_COST
@MATCH_COST.register_module()
class BBox3DL1Cost:
"""BBox3DL1Cost.
Args:
weight (int | float, optional): loss_weight
"""
def __init__(self, weight=1.0):
self.weight = weight
def __call__(self, bbox_pred, gt_b... | 844 | 29.178571 | 75 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py | 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:
"""Nearest 3D IoU Calculator.
Note:
This IoU calculator first finds the nea... | 12,121 | 36.41358 | 83 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/samplers/iou_neg_piecewise_sampler.py | 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 of IoU thresholds.
The negtive proposals are... | 6,501 | 41.776316 | 99 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/anchor_free_bbox_coder.py | 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 boxes.
Args:
num_dir_bins (int): Num... | 4,223 | 32.792 | 97 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/groupfree3d_bbox_coder.py | 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 bbox coder for GroupFree3D.
Args:
num_... | 6,807 | 37.902857 | 100 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/delta_xyzwhlr_bbox_coder.py | 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 to be encoded.
"""
def __init__(self, c... | 3,048 | 33.258427 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/centerpoint_bbox_coders.py | 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 cloud.
out_size_factor (int): Downsampl... | 8,425 | 36.283186 | 94 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/nms_free_coder.py | import torch
from mmdet.core.bbox import BaseBBoxCoder
from mmdet.core.bbox.builder import BBOX_CODERS
from mmdet3d.core.bbox.util import denormalize_bbox
@BBOX_CODERS.register_module()
class NMSFreeCoder(BaseBBoxCoder):
"""Bbox coder for NMS-free fusion_model.
Args:
pc_range (list[float]): Range of ... | 4,223 | 34.495798 | 109 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/transfusion_bbox_coder.py | import torch
from mmdet.core.bbox import BaseBBoxCoder
from mmdet.core.bbox.builder import BBOX_CODERS
@BBOX_CODERS.register_module()
class TransFusionBBoxCoder(BaseBBoxCoder):
def __init__(self,
pc_range,
out_size_factor,
voxel_size,
post_cente... | 5,315 | 41.870968 | 129 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/coders/partial_bin_based_bbox_coder.py | 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 (int): Number of bins to encode direction angle.... | 8,910 | 37.244635 | 100 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/depth_box3d.py | 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):
"""3D boxes of instances in Depth coordinates.... | 13,447 | 36.88169 | 100 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/cam_box3d.py | 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.
Coordinates in camera:
.. code-block... | 12,372 | 37.545171 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/base_box3d.py | 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:
"""Base class for 3D Boxes.
Note:
The box is bottom centered, i.e. the relative position of origin in
the box is (0.... | 16,325 | 33.959315 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/utils.py | 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): Offset to set the value range. \
Defa... | 7,769 | 32.491379 | 131 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/box_3d_mode.py | 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(IntEnum):
r"""Enum of different ways to rep... | 5,959 | 35.121212 | 90 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/lidar_box3d.py | 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(BaseInstance3DBoxes):
"""3D boxes of instances in LIDA... | 10,348 | 36.632727 | 87 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/bbox/structures/coord_3d_mode.py | 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
from .depth_box3d import DepthInstance3DBoxes
from .lidar_box3d import LiDARInstan... | 10,760 | 37.98913 | 97 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/points/cam_points.py | 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.
Each row is (x, y, z). Default to 3.
... | 2,795 | 37.30137 | 97 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/points/base_points.py | import numpy as np
import torch
import warnings
from abc import abstractmethod
class BasePoints:
"""Base class for Points.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int): Number of the dimension of a point.
Each row is (x, y, z). Default... | 16,477 | 35.946188 | 86 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/points/lidar_points.py | 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.
Each row is (x, y, z). Default to 3.
... | 2,797 | 37.328767 | 99 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/points/depth_points.py | 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.
Each row is (x, y, z). Default to 3.
... | 2,797 | 37.328767 | 99 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/utils/gaussian.py | 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: Generated gaussian map.
"""
m, n = [(ss - 1... | 2,439 | 27.705882 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/core/anchor/anchor_3d_generator.py | import mmcv
import torch
from mmdet.core.anchor import ANCHOR_GENERATORS
@ANCHOR_GENERATORS.register_module()
class Anchor3DRangeGenerator:
"""3D Anchor Generator by range.
This anchor generator generates anchors by the given range in different
feature levels.
Due the convention in 3D detection, diff... | 16,909 | 39.454545 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/vtransforms/base.py | from typing import Tuple
import torch
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.ops import bev_pool
__all__ = ["BaseTransform", "BaseDepthTransform"]
def gen_dx_bx(xbound, ybound, zbound):
dx = torch.Tensor([row[2] for row in [xbound, ybound, zbound]])
bx = torch.Tensor([row[0] +... | 9,050 | 29.681356 | 86 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/vtransforms/lss.py | from typing import Tuple
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.models.builder import VTRANSFORMS
from .base import BaseTransform
__all__ = ["LSSTransform"]
@VTRANSFORMS.register_module()
class LSSTransform(BaseTransform):
def __init__(
self,
in_channels: int,
... | 2,343 | 28.670886 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/vtransforms/depth_lss.py | from typing import Tuple
import torch
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.models.builder import VTRANSFORMS
from .base import BaseDepthTransform
__all__ = ["DepthLSSTransform"]
@VTRANSFORMS.register_module()
class DepthLSSTransform(BaseDepthTransform):
def __init__(
se... | 3,160 | 29.990196 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/necks/second.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
__all__ = ["SECONDFPN"]
@NECKS.register_module()
class... | 3,453 | 33.54 | 78 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/necks/lss.py | from typing import List, Tuple
import torch
from torch import nn
from torch.nn import functional as F
from mmdet.models import NECKS
__all__ = ["LSSFPN"]
@NECKS.register_module()
class LSSFPN(nn.Module):
def __init__(
self,
in_indices: Tuple[int, int],
in_channels: Tuple[int, int],
... | 1,867 | 27.30303 | 84 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/necks/generalized_lss.py | import torch
import torch.nn as nn
import torch.nn.functional as F
from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule, auto_fp16
from mmdet.models.builder import NECKS
__all__ = ["GeneralizedLSSFPN"]
@NECKS.register_module()
class GeneralizedLSSFPN(BaseModule):
def __init__(
self,
... | 3,322 | 30.951923 | 77 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/necks/detectron_fpn.py | # Copyright (c) Facebook, Inc. and its affiliates.
import math
import torch
import torch.nn.functional as F
from torch import nn
from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule, auto_fp16
from mmdet.models.builder import NECKS
from typing import List, Optional, Dict, Any
__all__ = ["DetectronFPN"... | 5,734 | 40.557971 | 100 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/fusers/add.py | import random
from typing import List
import torch
from torch import nn
from mmdet3d.models.builder import FUSERS
__all__ = ["AddFuser"]
@FUSERS.register_module()
class AddFuser(nn.Module):
def __init__(self, in_channels: int, out_channels: int, dropout: float = 0) -> None:
super().__init__()
s... | 1,237 | 29.195122 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/fusers/conv.py | from typing import List
import torch
from torch import nn
from mmdet3d.models.builder import FUSERS
__all__ = ["ConvFuser"]
@FUSERS.register_module()
class ConvFuser(nn.Sequential):
def __init__(self, in_channels: int, out_channels: int) -> None:
self.in_channels = in_channels
self.out_channels... | 647 | 26 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/utils/flops_counter.py | import torch
import torch.nn as nn
from mmdet.models.backbones.swin import WindowMSA, ShiftWindowMSA
from mmdet3d.ops.spconv import SparseConv3d, SubMConv3d
from mmdet3d.models.utils.transformer import MultiheadAttention
from typing import Union
from thop import profile
__all__ = ["flops_counter"]
# TODO: no need t... | 3,206 | 24.251969 | 75 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/utils/transformer.py | from mmcv.cnn import ConvModule, build_conv_layer, kaiming_init
import torch
from torch import nn
import torch.nn.functional as F
from torch.nn.parameter import Parameter
from torch.nn import Linear
from torch.nn.init import xavier_uniform_, constant_
__all__ = ["PositionEmbeddingLearned", "TransformerDecoderLayer",... | 25,833 | 43.850694 | 118 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/fusion_models/base.py | from abc import ABCMeta
from collections import OrderedDict
import torch
import torch.distributed as dist
from mmcv.runner import BaseModule
__all__ = ["Base3DFusionModel"]
class Base3DFusionModel(BaseModule, metaclass=ABCMeta):
"""Base class for fusion_models."""
def __init__(self, init_cfg=None):
... | 3,752 | 37.295918 | 84 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/fusion_models/bevfusion.py | from typing import Any, Dict
import torch
from mmcv.runner import auto_fp16, force_fp32
from torch import nn
from torch.nn import functional as F
from mmdet3d.models.builder import (
build_backbone,
build_fuser,
build_head,
build_neck,
build_vtransform,
)
from mmdet3d.ops import Voxelization, Dyna... | 9,328 | 29.486928 | 86 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/dla.py | # Copyright 2021 Toyota Research Institute. All rights reserved.
# Adapted from:
# https://github.com/ucbdrive/dla/blob/master/dla.py
from collections import OrderedDict
import torch
import torch.nn.functional as F
from torch import nn
from torch.nn.modules.batchnorm import _BatchNorm
from mmdet.models.builder imp... | 11,316 | 30.878873 | 140 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/second.py | # Copyright (c) OpenMMLab. All rights reserved.
import warnings
from mmcv.cnn import build_conv_layer, build_norm_layer
from mmcv.runner import BaseModule
from torch import nn as nn
from mmdet.models import BACKBONES
__all__ = ["SECOND"]
@BACKBONES.register_module()
class SECOND(BaseModule):
"""Backbone networ... | 3,189 | 31.55102 | 80 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/resnet.py | from typing import List, Tuple
import torch
from mmcv.cnn.resnet import BasicBlock, make_res_layer
from torch import nn
from mmdet.models import BACKBONES
__all__ = ["GeneralizedResNet"]
@BACKBONES.register_module()
class GeneralizedResNet(nn.ModuleList):
def __init__(
self,
in_channels: int,
... | 1,022 | 23.95122 | 61 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/pillar_encoder.py | """
PointPillars fork from SECOND.
Code written by Alex Lang and Oscar Beijbom, 2018.
Licensed under MIT License [see LICENSE].
"""
from typing import Any, Dict
import torch
from mmcv.cnn import build_norm_layer
from torch import nn
from torch.nn import functional as F
from mmdet3d.models.builder import build_backbo... | 9,376 | 35.204633 | 117 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/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 mmdet.models import BACKBONES
@BACKBONES.register_module()
class SparseEncoder(nn.Module):
r"... | 8,276 | 36.794521 | 87 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/backbones/vovnet.py | # adapted from DETR3D
from collections import OrderedDict
from mmcv.runner import BaseModule, force_fp32
from mmdet.models.builder import BACKBONES
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.nn.modules.batchnorm import _BatchNorm
__all__ = ["VoVNet"]
VoVNet19_slim_dw_eSE = {
'st... | 10,896 | 29.695775 | 119 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/heads/bbox/transfusion.py | import copy
import numpy as np
import torch
import torch.nn.functional as F
from mmcv.cnn import ConvModule, build_conv_layer
from mmcv.runner import force_fp32
from torch import nn
from mmdet3d.core import (
PseudoSampler,
circle_nms,
draw_heatmap_gaussian,
gaussian_radius,
xywhr2xyxyr,
)
from mm... | 33,556 | 38.38615 | 136 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/heads/bbox/centerpoint.py | import copy
import torch
from mmcv.cnn import ConvModule, build_conv_layer
from mmcv.runner import BaseModule, force_fp32
from torch import nn
from mmdet3d.core import circle_nms, draw_heatmap_gaussian, gaussian_radius, xywhr2xyxyr
from mmdet3d.models import builder
from mmdet3d.models.builder import HEADS, build_los... | 34,092 | 37.523164 | 91 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/models/heads/segm/vanilla.py | from typing import Any, Dict, List, Optional, Tuple, Union
import torch
from torch import nn
from torch.nn import functional as F
from mmdet3d.models.builder import HEADS
__all__ = ["BEVSegmentationHead"]
def sigmoid_xent_loss(
inputs: torch.Tensor,
targets: torch.Tensor,
reduction: str = "mean",
) -> ... | 4,056 | 28.18705 | 83 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/custom_3d.py | import tempfile
from os import path as osp
import mmcv
import numpy as np
from torch.utils.data import Dataset
from mmdet.datasets import DATASETS
from ..core.bbox import get_box_type
from .pipelines import Compose
from .utils import extract_result_dict
@DATASETS.register_module()
class Custom3DDataset(Dataset):
... | 10,706 | 33.876221 | 83 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/nuscenes_dataset.py | import tempfile
from os import path as osp
from typing import Any, Dict
import mmcv
import numpy as np
import pyquaternion
import torch
from nuscenes.utils.data_classes import Box as NuScenesBox
from pyquaternion import Quaternion
from mmdet.datasets import DATASETS
from ..core.bbox import LiDARInstance3DBoxes
from ... | 23,694 | 35.566358 | 154 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/utils.py | import mmcv
def extract_result_dict(results, key):
"""Extract and return the data corresponding to key in result dict.
``results`` is a dict output from `pipeline(input_dict)`, which is the
loaded data from ``Dataset`` class.
The data terms inside may be wrapped in list, tuple and DataContainer, ... | 918 | 30.689655 | 77 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/builder.py | import platform
from mmcv.utils import Registry, build_from_cfg
from mmdet.datasets import DATASETS
from mmdet.datasets.builder import _concat_dataset
if platform.system() != "Windows":
# https://github.com/pytorch/pytorch/issues/973
import resource
rlimit = resource.getrlimit(resource.RLIMIT_NOFILE)
... | 1,704 | 36.888889 | 98 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/pipelines/transforms_3d.py | from typing import Any, Dict
import mmcv
import numpy as np
import torch
import torchvision
from mmcv import is_tuple_of
from mmcv.utils import build_from_cfg
from numpy import random
from PIL import Image
from mmdet3d.core import VoxelGenerator
from mmdet3d.core.bbox import (
CameraInstance3DBoxes,
DepthInst... | 36,164 | 35.05683 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/pipelines/formating.py | # Copyright (c) OpenMMLab. All rights reserved.
import numpy as np
from mmcv.parallel import DataContainer as DC
from mmdet3d.core.bbox import BaseInstance3DBoxes
from mmdet3d.core.points import BasePoints
from mmdet.datasets.builder import PIPELINES
from mmdet.datasets.pipelines import to_tensor
import torch
@PIPE... | 7,133 | 35.030303 | 88 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/datasets/pipelines/loading_utils.py | import os
import numpy as np
import torch
__all__ = ["load_augmented_point_cloud", "reduce_LiDAR_beams"]
def load_augmented_point_cloud(path, virtual=False, reduce_beams=32):
# NOTE: following Tianwei's implementation, it is hard coded for nuScenes
points = np.fromfile(path, dtype=np.float32).reshape(-1, 5)... | 3,778 | 33.990741 | 163 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/utils/syncbn.py | import copy
import torch
from collections import deque
__all__ = ["convert_sync_batchnorm"]
def convert_sync_batchnorm(input_model, exclude=[]):
for name, module in input_model._modules.items():
skip = sum([ex in name for ex in exclude])
if skip:
continue
input_model._modules... | 410 | 24.6875 | 90 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/ops/norm.py | import torch
from mmcv.cnn import NORM_LAYERS
from mmcv.runner import force_fp32
from torch import distributed as dist
from torch import nn as nn
from torch.autograd.function import Function
class AllReduce(Function):
@staticmethod
def forward(ctx, input):
input_list = [torch.zeros_like(input) for k i... | 4,990 | 37.099237 | 84 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/ops/sparse_block.py | from mmcv.cnn import build_conv_layer, build_norm_layer
from torch import nn
from mmdet3d.ops import spconv
from mmdet.models.backbones.resnet import BasicBlock, Bottleneck
class SparseBottleneck(Bottleneck, spconv.SparseModule):
"""Sparse bottleneck block for PartA^2.
Bottleneck block implemented with subm... | 5,487 | 30.00565 | 98 | py |
RoboBEV | RoboBEV-master/zoo/BEVFusion/mmdet3d/ops/pointnet_modules/point_sa_module.py | import torch
from mmcv.cnn import ConvModule
from torch import nn as nn
from torch.nn import functional as F
from mmdet3d.ops import GroupAll, PAConv, Points_Sampler, QueryAndGroup, gather_points
from .builder import SA_MODULES
class BasePointSAModule(nn.Module):
"""Base module for point set abstraction module u... | 13,032 | 35.712676 | 98 | py |
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