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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fcaf3d | fcaf3d-master/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',
pretrained=dict(pts='open-mmlab://regnetx_400mf'),
pts_backbone=dict(
... | 754 | 30.458333 | 79 | py |
fcaf3d | fcaf3d-master/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',
pretrained=dict(pts='open-mmlab://regnetx_400mf'),
pts_ba... | 772 | 31.208333 | 79 | py |
fcaf3d | fcaf3d-master/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',
pretrained=dict(pts='open-mmlab://regnetx_1.6gf'),
pts_backbone=dict(
... | 703 | 28.333333 | 69 | py |
fcaf3d | fcaf3d-master/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 |
fcaf3d | fcaf3d-master/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 |
fcaf3d | fcaf3d-master/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 |
fcaf3d | fcaf3d-master/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,
... | 2,272 | 29.306667 | 77 | py |
fcaf3d | fcaf3d-master/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... | 3,531 | 31.40367 | 77 | py |
fcaf3d | fcaf3d-master/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 |
fcaf3d | fcaf3d-master/configs/imvoxelnet/imvoxelnet_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 |
fcaf3d | fcaf3d-master/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(
pretrained=dict(pts='open-mmlab://regnetx_1.6gf'),
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_1.6gf',
out_indices=(1, 2, 3),
frozen_stages=-1,
strides=(1... | 2,453 | 34.057143 | 76 | py |
fcaf3d | fcaf3d-master/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(
pretrained=dict(pts='open-mmlab://regnetx_400mf'),
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_400mf',
out_indices=(1, 2, 3),
frozen_stages=-1,
strides=(1... | 552 | 29.722222 | 69 | py |
fcaf3d | fcaf3d-master/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(
pretrained=dict(pts='open-mmlab://regnetx_3.2gf'),
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_3.2gf',
out_indices=(1, 2, 3),
frozen_stages=-1,
strides=(1... | 2,452 | 34.042857 | 76 | py |
fcaf3d | fcaf3d-master/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(
pretrained=dict(pts='open-mmlab://regnetx_1.6gf'),
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_1.6gf',
out_indices=(1, 2, 3),
frozen_stages=-1,
strides=(1... | 553 | 29.777778 | 69 | py |
fcaf3d | fcaf3d-master/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(
pretrained=dict(pts='open-mmlab://regnetx_3.2gf'),
pts_backbone=dict(
_delete_=True,
type='NoStemRegNet',
arch='regnetx_3.2gf',
out_indices=(1, 2, 3),
frozen_stages=-1,
strides=(1... | 554 | 29.833333 | 69 | py |
fcaf3d | fcaf3d-master/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',
pretrained=dict(pts='open-mmlab://regnetx_400mf'),
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),
... | 627 | 32.052632 | 79 | py |
fcaf3d | fcaf3d-master/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',
pretrained=dict(pts='open-mmlab://regnetx_400mf'),
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),... | 697 | 32.238095 | 79 | py |
fcaf3d | fcaf3d-master/data/s3dis/collect_indoor3d_data.py | import argparse
import mmcv
from indoor3d_util import export
from os import path as osp
parser = argparse.ArgumentParser()
parser.add_argument(
'--output-folder',
default='./s3dis_data',
help='output folder of the result.')
parser.add_argument(
'--data-dir',
default='Stanford3dDataset_v1.2_Aligned_... | 1,732 | 34.367347 | 147 | py |
fcaf3d | fcaf3d-master/mmdet3d/apis/inference.py | 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, DepthInstance3DBoxes,
LiDARInstance3DBoxes, show_multi_modality_re... | 16,971 | 33.217742 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/apis/test.py | 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,
show=False,
ou... | 3,052 | 35.345238 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/evaluation/seg_eval.py | 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
(num_points, ).
labels (np.ndarray... | 3,695 | 27.21374 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/evaluation/indoor_eval.py | 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): Recalls with shape of (num_scales, num_dets) \
... | 11,037 | 34.606452 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/evaluation/kitti_utils/rotate_iou.py | #####################
# 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_up(m, n):
return m // n + (m % n > 0)
@cuda... | 13,267 | 34.007916 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/post_processing/merge_augs.py | 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:
aug_results (list[dict]): The dict of ... | 3,447 | 36.478261 | 78 | py |
fcaf3d | fcaf3d-master/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,
... | 7,959 | 35.181818 | 77 | py |
fcaf3d | fcaf3d-master/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... | 33,489 | 36.377232 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/bbox/transforms.py | 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 factor.
flip_horizontal (bool): Whether... | 2,366 | 30.144737 | 78 | py |
fcaf3d | fcaf3d-master/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(object):
"""Nearest 3D IoU Calculator.
Note:
This IoU calculator first finds... | 12,463 | 37.82866 | 79 | py |
fcaf3d | fcaf3d-master/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... | 6,813 | 42.126582 | 79 | py |
fcaf3d | fcaf3d-master/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... | 4,319 | 32.230769 | 79 | py |
fcaf3d | fcaf3d-master/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_... | 7,154 | 36.657895 | 79 | py |
fcaf3d | fcaf3d-master/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... | 3,074 | 32.791209 | 78 | py |
fcaf3d | fcaf3d-master/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... | 8,543 | 36.473684 | 78 | py |
fcaf3d | fcaf3d-master/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.... | 9,098 | 36.755187 | 79 | py |
fcaf3d | fcaf3d-master/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.... | 13,616 | 38.699708 | 79 | py |
fcaf3d | fcaf3d-master/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... | 12,666 | 38.095679 | 79 | py |
fcaf3d | fcaf3d-master/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(object):
"""Base class for 3D Boxes.
Note:
The box is bottom centered, i.e. the relative position of origin in
the bo... | 16,447 | 34.678959 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/bbox/structures/utils.py | import numpy as np
import torch
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. \
Defaults to 0.5.
period ... | 6,881 | 34.658031 | 131 | py |
fcaf3d | fcaf3d-master/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... | 5,980 | 35.03012 | 79 | py |
fcaf3d | fcaf3d-master/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... | 10,478 | 37.811111 | 79 | py |
fcaf3d | fcaf3d-master/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
f... | 10,881 | 37.725979 | 79 | py |
fcaf3d | fcaf3d-master/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.
... | 2,818 | 39.271429 | 76 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/points/base_points.py | 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 dimension of a point.
Each row is (x, y, z).... | 16,348 | 37.02093 | 79 | py |
fcaf3d | fcaf3d-master/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.
... | 2,820 | 39.3 | 76 | py |
fcaf3d | fcaf3d-master/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.
... | 2,820 | 39.3 | 76 | py |
fcaf3d | fcaf3d-master/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... | 2,490 | 27.965116 | 74 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/visualizer/open3d_vis.py | 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,
points_size=2,
poin... | 17,680 | 38.911964 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/visualizer/image_vis.py | 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):
"""Project the 3D points cloud on 2D image.
... | 7,773 | 38.262626 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/core/anchor/anchor_3d_generator.py | 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
feature levels.
Due the convention in 3D detect... | 17,129 | 41.40099 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/base.py | 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(BaseDetector):
"""Base class for detectors."""
... | 4,829 | 43.722222 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/single_stage.py | 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 detectors.
Args:
backbone (dict): ... | 1,973 | 33.034483 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/voxelnet.py | 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 SingleStage3DDetector
@DETECTORS.register_module()
... | 4,872 | 36.484615 | 75 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/votenet.py | 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/1904.09664.pdf>`_ for 3D detection."""
def __init... | 3,948 | 35.906542 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/h3dnet.py | 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.org/abs/2006.05682>`_
"""
def __init__(se... | 6,732 | 37.255682 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/imvoxelnet.py | import torch
from mmdet3d.core import bbox3d2result, build_anchor_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
@DETECTORS.register_module()
class ImVoxelNet(BaseD... | 4,871 | 34.562044 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/single_stage_mono3d.py | 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,
mono_cam_box2vis, show_multi_modality_result)
from mmdet.models.builder import DETECTORS
from mmdet.models.detec... | 9,305 | 40.918919 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/groupfree3dnet.py | 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.org/abs/2104.00678>`_."""
def __init__(self,
... | 3,972 | 36.838095 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/dynamic_voxelnet.py | 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://arxiv.org/abs/1910.06528>`_.
"""
def __in... | 2,258 | 30.816901 | 82 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/mvx_two_stage.py | 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,
merge_aug_bboxes_3d, show_result)
from mmd... | 20,854 | 40.461233 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/mvx_faster_rcnn.py | 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 using Faster R-CNN."""
def __init__(self, *... | 1,994 | 31.704918 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/imvotenet.py | 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_sampled_seed=1024):
r"""Randomly sample seed... | 35,141 | 41.751825 | 146 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/parta2.py | 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 detector.
Please refer to the `paper <https://... | 5,783 | 37.304636 | 77 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/detectors/centerpoint.py | 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."""
def __init__(self,
pts... | 8,267 | 41.4 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/middle_encoders/pillar_scatter.py | 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 pseudo image.
Args:
in_channels (in... | 3,696 | 35.245098 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/middle_encoders/sparse_encoder.py | 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):
r"""Sparse encoder for SECOND and Part-A2... | 8,210 | 39.25 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/middle_encoders/sparse_unet.py | 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):
r"""SparseUNet for PartA^2.
See the `pap... | 11,665 | 38.8157 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/voxel_encoders/pillar_encoder.py | 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()
class PillarFeatureNet(nn.Module):
"""Pillar... | 13,108 | 41.423948 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/voxel_encoders/utils.py | 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.
Args:
actual_num (torch.Tensor): Actual... | 6,747 | 36.281768 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/voxel_encoders/voxel_encoder.py | 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_ENCODERS.register_module()
class HardSimpleVFE(nn.Mo... | 20,477 | 41.135802 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/necks/me_fpn.py | import torch
from torch import nn
import MinkowskiEngine as ME
from mmdet.models import NECKS, build_loss
@NECKS.register_module()
class MEFPN3D(nn.Module):
def __init__(self,
in_channels,
out_channels,
voxel_size,
n_outs=4,
pts... | 5,219 | 39.153846 | 110 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/necks/imvoxel_neck.py | 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 map.
out_channels (int): Output channels o... | 3,255 | 28.6 | 71 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/necks/second_fpn.py | 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):
"""FPN used in SECOND/PointPillars/PartA2/MVX... | 3,409 | 36.472527 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/fusion_layers/coord_transform.py | import torch
from functools import partial
from mmdet3d.core.points import get_points_type
def apply_3d_transformation(pcd, coords_type, img_meta, reverse=False):
"""Apply transformation to input point cloud.
Args:
pcd (torch.Tensor): The point cloud to be transformed.
coords_type (str): 'DE... | 7,607 | 34.386047 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/fusion_layers/point_fusion.py | 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 ..builder import FUSION_LAYERS
from . import apply_3d_transformation
def point_sample(
img_meta,
img_features,
points,
lidar2img_rt,
img_scale_facto... | 11,891 | 37.862745 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/fusion_layers/vote_fusion.py | 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):
"""Fuse 2d features from 3d seeds.
A... | 8,897 | 43.49 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/decode_heads/decode_head.py | 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 class for BaseDecodeHead.
Args:
cha... | 4,329 | 34.785124 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/decode_heads/pointnet2_head.py | 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 head.
Decoder head used in `PointNet++ <https... | 2,644 | 31.654321 | 93 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/anchor_free_mono3d_head.py | 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_mono3d_dense_head import BaseMono3DDenseHead
@HE... | 22,149 | 42.093385 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/ssd_3d_head.py | import numpy as np
import torch
from mmcv.ops.nms import batched_nms
from mmcv.runner import force_fp32
from torch.nn import functional as F
from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
LiDARInstance3DBoxes,
rotation... | 24,862 | 41.941278 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/vote_head_v2.py | import torch
from mmcv.runner import BaseModule, force_fp32
from torch.nn import functional as F
from mmdet3d.core.post_processing import aligned_3d_nms
from mmdet3d.models.builder import build_loss
from mmdet3d.models.losses import chamfer_distance
from mmdet3d.models.model_utils import VoteModule
from mmdet3d.ops im... | 25,898 | 41.527094 | 107 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/fcos_mono3d_head.py | import numpy as np
import torch
from mmcv.cnn import Scale, normal_init
from mmcv.runner import force_fp32
from torch import nn as nn
from mmdet3d.core import box3d_multiclass_nms, limit_period, xywhr2xyxyr
from mmdet.core import multi_apply
from mmdet.models.builder import HEADS, build_loss
from .anchor_free_mono3d_h... | 42,278 | 43.598101 | 113 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/shape_aware_head.py | import numpy as np
import torch
import warnings
from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule
from torch import nn as nn
from mmdet3d.core import box3d_multiclass_nms, limit_period, xywhr2xyxyr
from mmdet.core import multi_apply
from mmdet.models import HEADS
from ..builder import build_head
from ... | 21,128 | 40.187135 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/centerpoint_head.py | import copy
import numpy as np
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 ... | 32,307 | 38.4 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/free_anchor3d_head.py | import torch
from mmcv.runner import force_fp32
from torch.nn import functional as F
from mmdet3d.core.bbox import bbox_overlaps_nearest_3d
from mmdet.models import HEADS
from .anchor3d_head import Anchor3DHead
from .train_mixins import get_direction_target
@HEADS.register_module()
class FreeAnchor3DHead(Anchor3DHea... | 11,471 | 39.394366 | 125 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/base_conv_bbox_head.py | from mmcv.cnn import ConvModule
from mmcv.cnn.bricks import build_conv_layer
from mmcv.runner import BaseModule
from torch import nn as nn
from mmdet.models.builder import HEADS
@HEADS.register_module()
class BaseConvBboxHead(BaseModule):
r"""More general bbox head, with shared conv layers and two optional
s... | 4,358 | 32.274809 | 74 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/anchor3d_head.py | import numpy as np
import torch
from mmcv.runner import BaseModule, force_fp32
from torch import nn as nn
from mmdet3d.core import (PseudoSampler, box3d_multiclass_nms, limit_period,
xywhr2xyxyr)
from mmdet.core import (build_anchor_generator, build_assigner,
build_bbo... | 21,536 | 40.982456 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/train_mixins.py | import numpy as np
import torch
from mmdet3d.core import limit_period
from mmdet.core import images_to_levels, multi_apply
class AnchorTrainMixin(object):
"""Mixin class for target assigning of dense heads."""
def anchor_target_3d(self,
anchor_list,
gt_bboxe... | 16,690 | 47.100865 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/parta2_rpn_head.py | from __future__ import division
import numpy as np
import torch
from mmcv.runner import force_fp32
from mmdet3d.core import limit_period, xywhr2xyxyr
from mmdet3d.ops.iou3d.iou3d_utils import nms_gpu, nms_normal_gpu
from mmdet.models import HEADS
from .anchor3d_head import Anchor3DHead
@HEADS.register_module()
clas... | 13,804 | 43.105431 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/groupfree3d_head.py | import copy
import numpy as np
import torch
from mmcv import ConfigDict
from mmcv.cnn import ConvModule
from mmcv.cnn.bricks.transformer import (build_positional_encoding,
build_transformer_layer)
from mmcv.runner import force_fp32
from torch import nn as nn
from torch.nn import... | 42,018 | 41.315206 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/vote_head.py | import numpy as np
import torch
from mmcv.runner import BaseModule, force_fp32
from torch.nn import functional as F
from mmdet3d.core.post_processing import aligned_3d_nms
from mmdet3d.models.builder import build_loss
from mmdet3d.models.losses import chamfer_distance
from mmdet3d.models.model_utils import VoteModule
... | 28,302 | 41.689291 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/dense_heads/fcaf3d_neck_with_head.py | import torch
from torch import nn
import MinkowskiEngine as ME
from mmdet.core import BaseAssigner, reduce_mean, build_assigner
from mmdet.models.builder import HEADS, build_loss
from mmdet.core.bbox.builder import BBOX_ASSIGNERS
from mmcv.cnn import Scale, bias_init_with_prob
from mmdet3d.core.bbox.structures import ... | 19,608 | 40.989293 | 111 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/utils/mlp.py | from mmcv.cnn import ConvModule
from mmcv.runner import BaseModule
from torch import nn as nn
class MLP(BaseModule):
"""A simple MLP module.
Pass features (B, C, N) through an MLP.
Args:
in_channels (int): Number of channels of input features.
Default: 18.
conv_channels (tupl... | 1,627 | 30.921569 | 68 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/utils/clip_sigmoid.py | import torch
def clip_sigmoid(x, eps=1e-4):
"""Sigmoid function for input feature.
Args:
x (torch.Tensor): Input feature map with the shape of [B, N, H, W].
eps (float): Lower bound of the range to be clamped to. Defaults
to 1e-4.
Returns:
torch.Tensor: Feature map af... | 410 | 23.176471 | 75 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/part_aggregation_roi_head.py | import warnings
from torch.nn import functional as F
from mmdet3d.core import AssignResult
from mmdet3d.core.bbox import bbox3d2result, bbox3d2roi
from mmdet.core import build_assigner, build_sampler
from mmdet.models import HEADS
from ..builder import build_head, build_roi_extractor
from .base_3droi_head import Base3... | 13,874 | 41.692308 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/base_3droi_head.py | from abc import ABCMeta, abstractmethod
from mmcv.runner import BaseModule
class Base3DRoIHead(BaseModule, metaclass=ABCMeta):
"""Base class for 3d RoIHeads."""
def __init__(self,
bbox_head=None,
mask_roi_extractor=None,
mask_head=None,
trai... | 2,938 | 29.298969 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/h3d_roi_head.py | from mmdet3d.core.bbox import bbox3d2result
from mmdet.models import HEADS
from ..builder import build_head
from .base_3droi_head import Base3DRoIHead
@HEADS.register_module()
class H3DRoIHead(Base3DRoIHead):
"""H3D roi head for H3DNet.
Args:
primitive_list (List): Configs of primitive heads.
... | 5,603 | 34.025 | 78 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/roi_extractors/single_roiaware_extractor.py | import torch
from mmcv.runner import BaseModule
from mmdet3d import ops
from mmdet.models.builder import ROI_EXTRACTORS
@ROI_EXTRACTORS.register_module()
class Single3DRoIAwareExtractor(BaseModule):
"""Point-wise roi-aware Extractor.
Extract Point-wise roi features.
Args:
roi_layer (dict): The ... | 1,935 | 34.851852 | 76 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/bbox_heads/parta2_bbox_head.py | import numpy as np
import torch
from mmcv.cnn import ConvModule, normal_init
from mmcv.runner import BaseModule
from torch import nn as nn
from mmdet3d.core.bbox.structures import (LiDARInstance3DBoxes,
rotation_3d_in_axis, xywhr2xyxyr)
from mmdet3d.models.builder import build... | 24,984 | 38.976 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/bbox_heads/h3d_bbox_head.py | 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 import DepthInstance3DBoxes
from mmdet3d.core.post_processing import aligned_3d_nms
from mmdet3d.models.builder import build_loss
from mmdet3d.models.lo... | 40,105 | 42.311015 | 79 | py |
fcaf3d | fcaf3d-master/mmdet3d/models/roi_heads/mask_heads/primitive_head.py | 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.models.builder import build_loss
from mmdet3d.models.model_utils import VoteModule
from mmdet3d.ops import build_sa_module, furthest_point_sample
from mmdet.core ... | 42,305 | 42.795031 | 79 | py |
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