Merge branch 'lyft_baselines' into 'master'

Lyft baselines

See merge request open-mmlab/mmdet.3d!98

configs/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_1x16_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(
+        _delete_=True,
+        type='NoStemRegNet',
+        arch=dict(w0=24, wa=24.48, wm=2.54, group_w=16, depth=22, bot_mul=1.0),
+        out_indices=(1, 2, 3),
+        frozen_stages=-1,
+        strides=(1, 2, 2, 2),
+        base_channels=64,
+        stem_channels=64,
+        norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
+        norm_eval=False,
+        style='pytorch'),
+    pts_neck=dict(in_channels=[64, 160, 384]))

configs/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py

 _base_ = [
-    '../_base_/models/pointpillars_second_fpn.py',
+    '../_base_/models/hv_pointpillars_fpn_nus.py',
     '../_base_/datasets/nus-3d.py',
     '../_base_/schedules/schedule_2x.py',
     '../_base_/default_runtime.py',

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_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),
+        out_indices=(1, 2, 3),
+        frozen_stages=-1,
+        strides=(1, 2, 2, 2),
+        base_channels=64,
+        stem_channels=64,
+        norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
+        norm_eval=False,
+        style='pytorch'),
+    pts_neck=dict(in_channels=[64, 160, 384]))

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py

+_base_ = './hv_pointpillars_regnet-400mf_fpn_sbn-all_1x16_2x_lyft-3d.py'
+# model settings
+model = dict(
+    pts_neck=dict(
+        type='SECONDFPN',
+        _delete_=True,
+        norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
+        in_channels=[64, 160, 384],
+        upsample_strides=[1, 2, 4],
+        out_channels=[128, 128, 128]),
+    pts_bbox_head=dict(
+        type='Anchor3DHead',
+        in_channels=384,
+        feat_channels=384,
+        anchor_generator=dict(
+            _delete_=True,
+            type='AlignedAnchor3DRangeGenerator',
+            ranges=[[-80, -80, -1.0715024, -80, -80, -1.0715024],
+                    [-80, -80, -0.3033737, -80, -80, -0.3033737],
+                    [-80, -80, -0.3519405, -80, -80, -0.3519405],
+                    [-80, -80, -0.8871424, -80, -80, -0.8871424],
+                    [-80, -80, -0.6276341, -80, -80, -0.6276341],
+                    [-80, -80, -1.3220503, -80, -80, -1.3220503],
+                    [-80, -80, -1.0709302, -80, -80, -1.0709302],
+                    [-80, -80, -0.9122268, -80, -80, -0.9122268],
+                    [-80, -80, -1.8012227, -80, -80, -1.8012227]],
+            sizes=[
+                [1.92, 4.75, 1.71],  # car
+                [2.84, 10.24, 3.44],  # truck
+                [2.92, 12.70, 3.42],  # bus
+                [2.42, 6.52, 2.34],  # emergency vehicle
+                [2.75, 8.17, 3.20],  # other vehicle
+                [0.96, 2.35, 1.59],  # motorcycle
+                [0.63, 1.76, 1.44],  # bicycle
+                [0.76, 0.80, 1.76],  # pedestrian
+                [0.35, 0.73, 0.50]  # animal
+            ],
+            rotations=[0, 1.57],
+            reshape_out=True)))

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py

@@ -36,4 +36,3 @@ model = dict(
             custom_values=[0, 0],
             rotations=[0, 1.57],
             reshape_out=True)))
-# model training and testing settings

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py

+_base_ = \
+    './hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py'
+# model settings
+model = dict(
+    pts_neck=dict(
+        type='SECONDFPN',
+        _delete_=True,
+        norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
+        in_channels=[64, 160, 384],
+        upsample_strides=[1, 2, 4],
+        out_channels=[128, 128, 128]),
+    pts_bbox_head=dict(
+        type='Anchor3DHead',
+        in_channels=384,
+        feat_channels=384,
+        anchor_generator=dict(
+            _delete_=True,
+            type='AlignedAnchor3DRangeGenerator',
+            ranges=[[-100, -100, -1.0715024, -100, -100, -1.0715024],
+                    [-100, -100, -0.3033737, -100, -100, -0.3033737],
+                    [-100, -100, -0.3519405, -100, -100, -0.3519405],
+                    [-100, -100, -0.8871424, -100, -100, -0.8871424],
+                    [-100, -100, -0.6276341, -100, -100, -0.6276341],
+                    [-100, -100, -1.3220503, -100, -100, -1.3220503],
+                    [-100, -100, -1.0709302, -100, -100, -1.0709302],
+                    [-100, -100, -0.9122268, -100, -100, -0.9122268],
+                    [-100, -100, -1.8012227, -100, -100, -1.8012227]],
+            sizes=[
+                [1.92, 4.75, 1.71],  # car
+                [2.84, 10.24, 3.44],  # truck
+                [2.92, 12.70, 3.42],  # bus
+                [2.42, 6.52, 2.34],  # emergency vehicle
+                [2.75, 8.17, 3.20],  # other vehicle
+                [0.96, 2.35, 1.59],  # motorcycle
+                [0.63, 1.76, 1.44],  # bicycle
+                [0.76, 0.80, 1.76],  # pedestrian
+                [0.35, 0.73, 0.50]  # animal
+            ],
+            rotations=[0, 1.57],
+            reshape_out=True)))

configs/second/hv_second_secfpn_6x8_80e_kitti-3d-3class.py

 _base_ = [
-    '../_base_/models/hv_second_secfpn.py',
+    '../_base_/models/hv_second_secfpn_kitti.py',
     '../_base_/datasets/kitti-3d-3class.py',
     '../_base_/schedules/cyclic_40e.py', '../_base_/default_runtime.py'
 ]

configs/second/hv_second_secfpn_6x8_80e_kitti-3d-car.py

 _base_ = [
-    '../_base_/models/hv_second_secfpn.py',
+    '../_base_/models/hv_second_secfpn_kitti.py',
     '../_base_/datasets/kitti-3d-car.py', '../_base_/schedules/cyclic_40e.py',
     '../_base_/default_runtime.py'
 ]