Skip to content

GitLab

Unverified Commit 86f6183d authored by ChaimZhu's avatar ChaimZhu Committed by GitHub
Browse files

[Refactor] move voxelization to data_preprocessor and fix new ut bugs (#1671) 

* mv voxelization

* update

* update full

* fix configs

* improve docstring of data_preprocessor

* fix dynamic voxel config

* remove default voxel_type in config

* fix typos

* add docstring

* fix ut

* update

* fix docstring
parent a50c71dd
Show whitespace changes
Inline Side-by-side
Showing with 134 additions and 95 deletions
configs/_base_/models/centerpoint_01voxel_second_secfpn_nus.py
View file @ 86f6183d
voxel_size = [0.1, 0.1, 0.2]
model = dict(
type='CenterPoint',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
pts_voxel_layer=dict(
max_num_points=10, voxel_size=voxel_size, max_voxels=(90000, 120000)),
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=10,
voxel_size=voxel_size,
max_voxels=(90000, 120000))),
pts_voxel_encoder=dict(type='HardSimpleVFE', num_features=5),
pts_middle_encoder=dict(
type='SparseEncoder',
......
configs/_base_/models/centerpoint_02pillar_second_secfpn_nus.py
View file @ 86f6183d
voxel_size = [0.2, 0.2, 8]
model = dict(
type='CenterPoint',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
pts_voxel_layer=dict(
max_num_points=20, voxel_size=voxel_size, max_voxels=(30000, 40000)),
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=20,
voxel_size=voxel_size,
max_voxels=(30000, 40000))),
pts_voxel_encoder=dict(
type='PillarFeatureNet',
in_channels=5,
......
configs/_base_/models/hv_pointpillars_fpn_lyft.py
View file @ 86f6183d
......@@ -6,10 +6,11 @@ _base_ = './hv_pointpillars_fpn_nus.py'
# If point cloud range is modified, do remember to change all related
# keys in the config.
model = dict(
pts_voxel_layer=dict(
data_preprocessor=dict(
voxel_layer=dict(
max_num_points=20,
point_cloud_range=[-80, -80, -5, 80, 80, 3],
max_voxels=(60000, 60000)),
max_voxels=(60000, 60000))),
pts_voxel_encoder=dict(
feat_channels=[64], point_cloud_range=[-80, -80, -5, 80, 80, 3]),
pts_middle_encoder=dict(output_shape=[640, 640]),
......
configs/_base_/models/hv_pointpillars_fpn_nus.py
View file @ 86f6183d
......@@ -6,12 +6,14 @@
voxel_size = [0.25, 0.25, 8]
model = dict(
type='MVXFasterRCNN',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
pts_voxel_layer=dict(
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=64,
point_cloud_range=[-50, -50, -5, 50, 50, 3],
voxel_size=voxel_size,
max_voxels=(30000, 40000)),
max_voxels=(30000, 40000))),
pts_voxel_encoder=dict(
type='HardVFE',
in_channels=4,
......
configs/_base_/models/hv_pointpillars_fpn_range100_lyft.py
View file @ 86f6183d
......@@ -6,10 +6,11 @@ _base_ = './hv_pointpillars_fpn_nus.py'
# If point cloud range is modified, do remember to change all related
# keys in the config.
model = dict(
pts_voxel_layer=dict(
data_preprocessor=dict(
voxel_layer=dict(
max_num_points=20,
point_cloud_range=[-100, -100, -5, 100, 100, 3],
max_voxels=(60000, 60000)),
max_voxels=(60000, 60000))),
pts_voxel_encoder=dict(
feat_channels=[64], point_cloud_range=[-100, -100, -5, 100, 100, 3]),
pts_middle_encoder=dict(output_shape=[800, 800]),
......
configs/_base_/models/hv_pointpillars_secfpn_kitti.py
View file @ 86f6183d
......@@ -2,13 +2,14 @@ voxel_size = [0.16, 0.16, 4]
model = dict(
type='VoxelNet',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=32, # max_points_per_voxel
point_cloud_range=[0, -39.68, -3, 69.12, 39.68, 1],
voxel_size=voxel_size,
max_voxels=(16000, 40000) # (training, testing) max_voxels
),
max_voxels=(16000, 40000))),
voxel_encoder=dict(
type='PillarFeatureNet',
in_channels=4,
......
configs/_base_/models/hv_pointpillars_secfpn_waymo.py
View file @ 86f6183d
......@@ -6,12 +6,14 @@
voxel_size = [0.32, 0.32, 6]
model = dict(
type='MVXFasterRCNN',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
pts_voxel_layer=dict(
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=20,
point_cloud_range=[-74.88, -74.88, -2, 74.88, 74.88, 4],
voxel_size=voxel_size,
max_voxels=(32000, 32000)),
max_voxels=(32000, 32000))),
pts_voxel_encoder=dict(
type='HardVFE',
in_channels=5,
......
configs/_base_/models/hv_second_secfpn_kitti.py
View file @ 86f6183d
......@@ -2,12 +2,14 @@ voxel_size = [0.05, 0.05, 0.1]
model = dict(
type='VoxelNet',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=5,
point_cloud_range=[0, -40, -3, 70.4, 40, 1],
voxel_size=voxel_size,
max_voxels=(16000, 40000)),
max_voxels=(16000, 40000))),
voxel_encoder=dict(type='HardSimpleVFE'),
middle_encoder=dict(
type='SparseEncoder',
......
configs/_base_/models/hv_second_secfpn_waymo.py
View file @ 86f6183d
......@@ -6,12 +6,14 @@
voxel_size = [0.08, 0.08, 0.1]
model = dict(
type='MVXFasterRCNN',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
pts_voxel_layer=dict(
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=20,
point_cloud_range=[-76.8, -51.2, -2, 76.8, 51.2, 4],
voxel_size=voxel_size,
max_voxels=(80000, 90000)),
max_voxels=(80000, 90000))),
pts_voxel_encoder=dict(type='HardSimpleVFE', num_features=5),
pts_middle_encoder=dict(
type='SparseEncoder',
......
configs/_base_/models/parta2.py
View file @ 86f6183d
......@@ -4,13 +4,14 @@ point_cloud_range = [0, -40, -3, 70.4, 40, 1]
model = dict(
type='PartA2',
data_preprocessor=dict(type='Det3DDataPreprocessor'),
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=5, # max_points_per_voxel
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(16000, 40000) # (training, testing) max_voxels
),
max_voxels=(16000, 40000))),
voxel_encoder=dict(type='HardSimpleVFE'),
middle_encoder=dict(
type='SparseUNet',
......
configs/benchmark/hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py
View file @ 86f6183d
......@@ -4,12 +4,14 @@ point_cloud_range = [0, -40, -3, 70.4, 40, 1] # velodyne coordinates, x, y, z
model = dict(
type='PartA2',
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=5, # max_points_per_voxel
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(16000, 40000) # (training, testing) max_coxels
),
max_voxels=(16000, 40000))),
voxel_encoder=dict(type='HardSimpleVFE'),
middle_encoder=dict(
type='SparseUNet',
......
configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py
View file @ 86f6183d
......@@ -3,11 +3,14 @@ voxel_size = [0.16, 0.16, 4]
point_cloud_range = [0, -39.68, -3, 69.12, 39.68, 1]
model = dict(
type='VoxelNet',
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=64,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(12000, 20000)),
max_voxels=(12000, 20000))),
voxel_encoder=dict(
type='PillarFeatureNet',
in_channels=4,
......
configs/benchmark/hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py
View file @ 86f6183d
......@@ -3,12 +3,14 @@ point_cloud_range = [0, -39.68, -3, 69.12, 39.68, 1]
voxel_size = [0.16, 0.16, 4]
model = dict(
type='VoxelNet',
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=32, # max_points_per_voxel
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(16000, 40000) # (training, testing) max_coxels
),
max_voxels=(16000, 40000))),
voxel_encoder=dict(
type='PillarFeatureNet',
in_channels=4,
......
configs/benchmark/hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py
View file @ 86f6183d
......@@ -4,11 +4,14 @@ point_cloud_range = [0, -40, -3, 70.4, 40, 1]
model = dict(
type='VoxelNet',
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_layer=dict(
max_num_points=5,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(16000, 40000)),
max_voxels=(16000, 40000))),
voxel_encoder=dict(type='HardSimpleVFE'),
middle_encoder=dict(
type='SparseEncoder',
......
configs/centerpoint/centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 86f6183d
......@@ -11,8 +11,9 @@ class_names = [
]
data_prefix = dict(pts='samples/LIDAR_TOP', img='')
model = dict(
pts_voxel_layer=dict(
voxel_size=voxel_size, point_cloud_range=point_cloud_range),
data_preprocessor=dict(
voxel_layer=dict(
voxel_size=voxel_size, point_cloud_range=point_cloud_range)),
pts_middle_encoder=dict(sparse_shape=[41, 1440, 1440]),
pts_bbox_head=dict(
bbox_coder=dict(
......
configs/centerpoint/centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 86f6183d
......@@ -14,7 +14,8 @@ class_names = [
]
data_prefix = dict(pts='samples/LIDAR_TOP', img='')
model = dict(
pts_voxel_layer=dict(point_cloud_range=point_cloud_range),
data_preprocessor=dict(
voxel_layer=dict(point_cloud_range=point_cloud_range)),
pts_bbox_head=dict(bbox_coder=dict(pc_range=point_cloud_range[:2])),
# model training and testing settings
train_cfg=dict(pts=dict(point_cloud_range=point_cloud_range)),
......
configs/centerpoint/centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py
View file @ 86f6183d
......@@ -14,7 +14,8 @@ class_names = [
]
data_prefix = dict(pts='samples/LIDAR_TOP', img='')
model = dict(
pts_voxel_layer=dict(point_cloud_range=point_cloud_range),
data_preprocessor=dict(
voxel_layer=dict(point_cloud_range=point_cloud_range)),
pts_voxel_encoder=dict(point_cloud_range=point_cloud_range),
pts_bbox_head=dict(bbox_coder=dict(pc_range=point_cloud_range[:2])),
# model training and testing settings
......
configs/dynamic_voxelization/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py
View file @ 86f6183d
......@@ -5,11 +5,13 @@ point_cloud_range = [0, -39.68, -3, 69.12, 39.68, 1]
model = dict(
type='DynamicVoxelNet',
data_preprocessor=dict(
voxel_type='dynamic',
voxel_layer=dict(
max_num_points=-1,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(-1, -1)),
max_voxels=(-1, -1))),
voxel_encoder=dict(
type='DynamicPillarFeatureNet',
in_channels=4,
......
configs/dynamic_voxelization/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py
View file @ 86f6183d
......@@ -9,12 +9,14 @@ voxel_size = [0.05, 0.05, 0.1]
model = dict(
type='DynamicVoxelNet',
data_preprocessor=dict(
voxel_type='dynamic',
voxel_layer=dict(
_delete_=True,
max_num_points=-1,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(-1, -1)),
max_voxels=(-1, -1))),
voxel_encoder=dict(
_delete_=True,
type='DynamicSimpleVFE',
......
configs/dynamic_voxelization/dv_second_secfpn_6x8_80e_kitti-3d-car.py
View file @ 86f6183d
......@@ -5,12 +5,14 @@ voxel_size = [0.05, 0.05, 0.1]
model = dict(
type='DynamicVoxelNet',
data_preprocessor=dict(
voxel_type='dynamic',
voxel_layer=dict(
_delete_=True,
max_num_points=-1,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(-1, -1)),
max_voxels=(-1, -1))),
voxel_encoder=dict(
_delete_=True,
type='DynamicSimpleVFE',
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment