Merge branch 'master' into openlane

autonomous_driving/Online-HD-Map-Construction-CVPR2023/src/datasets/pipelines/__init__.py

+from .loading import LoadMultiViewImagesFromFiles
+from .formating import FormatBundleMap
+from .transform import ResizeMultiViewImages, PadMultiViewImages, Normalize3D
+from .vectorize import VectorizeMap
+from .poly_bbox import PolygonizeLocalMapBbox
+# for argoverse
+
+__all__ = [
+    'LoadMultiViewImagesFromFiles',
+    'FormatBundleMap', 'Normalize3D', 'ResizeMultiViewImages', 'PadMultiViewImages',
+    'VectorizeMap', 'PolygonizeLocalMapBbox'
+]
\ No newline at end of file

autonomous_driving/Online-HD-Map-Construction-CVPR2023/src/datasets/pipelines/formating.py

+import numpy as np
+from mmcv.parallel import DataContainer as DC
+
+from mmdet3d.core.points import BasePoints
+from mmdet.datasets.builder import PIPELINES
+from mmdet.datasets.pipelines import to_tensor
+
+@PIPELINES.register_module()
+class FormatBundleMap(object):
+    """Format data for map tasks and then collect data for model input.
+
+    These fields are formatted as follows.
+
+    - img: (1) transpose, (2) to tensor, (3) to DataContainer (stack=True)
+    - semantic_mask (if exists): (1) to tensor, (2) to DataContainer (stack=True)
+    - vectors (if exists): (1) to DataContainer (cpu_only=True)
+    - img_metas: (1) to DataContainer (cpu_only=True)
+    """
+
+    def __init__(self, process_img=True, 
+                keys=['img', 'semantic_mask', 'vectors'], 
+                meta_keys=['intrinsics', 'extrinsics']):
+        
+        self.process_img = process_img
+        self.keys = keys
+        self.meta_keys = meta_keys
+
+    def __call__(self, results):
+        """Call function to transform and format common fields in results.
+
+        Args:
+            results (dict): Result dict contains the data to convert.
+
+        Returns:
+            dict: The result dict contains the data that is formatted with
+                default bundle.
+        """
+        # Format 3D data
+        if 'points' in results:
+            assert isinstance(results['points'], BasePoints)
+            results['points'] = DC(results['points'].tensor)
+
+        for key in ['voxels', 'coors', 'voxel_centers', 'num_points']:
+            if key not in results:
+                continue
+            results[key] = DC(to_tensor(results[key]), stack=False)
+
+        if 'img' in results and self.process_img:
+            if isinstance(results['img'], list):
+                # process multiple imgs in single frame
+                imgs = [img.transpose(2, 0, 1) for img in results['img']]
+                imgs = np.ascontiguousarray(np.stack(imgs, axis=0))
+                results['img'] = DC(to_tensor(imgs), stack=True)
+            else:
+                img = np.ascontiguousarray(results['img'].transpose(2, 0, 1))
+                results['img'] = DC(to_tensor(img), stack=True)
+        
+        if 'semantic_mask' in results:
+            results['semantic_mask'] = DC(to_tensor(results['semantic_mask']), stack=True)
+
+        if 'vectors' in results:
+            # vectors may have different sizes
+            vectors = results['vectors']
+            results['vectors'] = DC(vectors, stack=False, cpu_only=True)
+        
+        if 'polys' in results:
+            results['polys'] = DC(results['polys'], stack=False, cpu_only=True)
+
+        return results
+
+    def __repr__(self):
+        """str: Return a string that describes the module."""
+        repr_str = self.__class__.__name__
+        repr_str += f'(process_img={self.process_img}, '
+        return repr_str

autonomous_driving/Online-HD-Map-Construction-CVPR2023/src/models/__init__.py

+from .backbones import *
+from .heads import *
+from .losses import *
+from .mapers import *
+from .transformer_utils import *
+from .assigner import *

autonomous_driving/Online-HD-Map-Construction-CVPR2023/src/models/assigner/__init__.py

+from .assigner import HungarianLinesAssigner
+from .match_cost import MapQueriesCost, BBoxLogitsCost, DynamicLinesCost, IoUCostC, BBoxCostC, LinesCost, LinesFixNumChamferCost, ClsSigmoidCost