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Unverified Commit 23768cba authored by encore-zhou's avatar encore-zhou Committed by GitHub
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[Enhance] Use Points structure in augmentation and models (#204) 

* add h3d backbone

* add h3d backbone

* add h3dnet

* modify scannet config

* fix bugs for proposal refine

* fix bugs for test backbone

* add primitive head test

* modify h3dhead

* modify h3d head

* update loss weight config

* fix bugs for h3d head loss

* modify h3d head get targets function

* update h3dnet base config

* modify weighted loss

* Revert "Merge branch 'h3d_u2' into 'master'"

This reverts merge request !5

* modify pipeline

* modify kitti pipeline

* fix bugs for points rotation

* modify multi sweeps

* modify multi sweep points

* fix bugs for points slicing

* modify BackgroundPointsFilter

* modify pipeline

* modify unittest

* modify unittest

* modify docstring

* modify config files

* update configs

* modify docstring
parent a97fc87b
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Showing with 38 additions and 6 deletions
configs/3dssd/3dssd_kitti-3d-car.py
View file @ 23768cba
......@@ -27,6 +27,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......@@ -58,6 +59,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......
configs/_base_/datasets/kitti-3d-3class.py
View file @ 23768cba
......@@ -24,6 +24,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......@@ -53,6 +54,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......
configs/_base_/datasets/kitti-3d-car.py
View file @ 23768cba
......@@ -22,6 +22,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......@@ -51,6 +52,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......
configs/_base_/datasets/lyft-3d.py
View file @ 23768cba
......@@ -29,6 +29,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -52,6 +53,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/_base_/datasets/nus-3d.py
View file @ 23768cba
......@@ -29,6 +29,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -53,6 +54,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/_base_/datasets/range100_lyft-3d.py
View file @ 23768cba
......@@ -29,6 +29,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -52,6 +53,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/_base_/datasets/scannet-3d-18class.py
View file @ 23768cba
......@@ -8,6 +8,7 @@ class_names = ('cabinet', 'bed', 'chair', 'sofa', 'table', 'door', 'window',
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=True,
load_dim=6,
use_dim=[0, 1, 2]),
......@@ -43,6 +44,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=True,
load_dim=6,
use_dim=[0, 1, 2]),
......
configs/_base_/datasets/sunrgbd-3d-10class.py
View file @ 23768cba
......@@ -5,6 +5,7 @@ class_names = ('bed', 'table', 'sofa', 'chair', 'toilet', 'desk', 'dresser',
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=True,
load_dim=6,
use_dim=[0, 1, 2]),
......@@ -26,6 +27,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=True,
load_dim=6,
use_dim=[0, 1, 2]),
......
configs/_base_/datasets/waymoD5-3d-3class.py
View file @ 23768cba
......@@ -31,6 +31,7 @@ db_sampler = dict(
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=6,
use_dim=5,
file_client_args=file_client_args),
......@@ -58,6 +59,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=6,
use_dim=5,
file_client_args=file_client_args),
......
configs/_base_/datasets/waymoD5-3d-car.py
View file @ 23768cba
......@@ -22,6 +22,7 @@ db_sampler = dict(
sample_groups=dict(Car=15),
points_loader=dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=[0, 1, 2, 3, 4],
file_client_args=file_client_args))
......@@ -29,6 +30,7 @@ db_sampler = dict(
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=6,
use_dim=5,
file_client_args=file_client_args),
......@@ -56,6 +58,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=6,
use_dim=5,
file_client_args=file_client_args),
......
configs/benchmark/hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py
View file @ 23768cba
......@@ -209,7 +209,7 @@ db_sampler = dict(
classes=class_names,
sample_groups=dict(Car=20, Pedestrian=15, Cyclist=15))
train_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
dict(type='ObjectSample', db_sampler=db_sampler),
dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5),
......@@ -225,7 +225,7 @@ train_pipeline = [
dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
]
test_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(
type='MultiScaleFlipAug3D',
img_scale=(1333, 800),
......
configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py
View file @ 23768cba
......@@ -86,7 +86,7 @@ db_sampler = dict(
classes=class_names)
train_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
dict(type='ObjectSample', db_sampler=db_sampler),
dict(
......@@ -107,7 +107,7 @@ train_pipeline = [
dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
]
test_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
dict(
type='DefaultFormatBundle3D',
......
configs/benchmark/hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py
View file @ 23768cba
......@@ -125,7 +125,7 @@ db_sampler = dict(
))
train_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
dict(type='ObjectSample', db_sampler=db_sampler),
dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5),
......@@ -140,7 +140,7 @@ train_pipeline = [
dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d']),
]
test_pipeline = [
dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(
type='MultiScaleFlipAug3D',
img_scale=(1333, 800),
......
configs/benchmark/hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py
View file @ 23768cba
......@@ -119,6 +119,7 @@ file_client_args = dict(backend='disk')
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......@@ -142,6 +143,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=4,
use_dim=4,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 23768cba
......@@ -69,6 +69,7 @@ db_sampler = dict(
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -101,6 +102,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py
View file @ 23768cba
......@@ -10,6 +10,7 @@ class_names = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py
View file @ 23768cba
......@@ -12,6 +12,7 @@ class_names = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py
View file @ 23768cba
......@@ -11,6 +11,7 @@ class_names = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 23768cba
......@@ -62,6 +62,7 @@ db_sampler = dict(
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -94,6 +95,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
configs/centerpoint/centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 23768cba
......@@ -63,6 +63,7 @@ db_sampler = dict(
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......@@ -95,6 +96,7 @@ train_pipeline = [
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='LIDAR',
load_dim=5,
use_dim=5,
file_client_args=file_client_args),
......
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