GitLab

support MultiFrame setting for Waymo Open Dataset, add its config, needs to re-preprocess the Waymo Dataset to save speeds/accels, save new GT database

For kitti-like custom datasets, this will help.

refactor database_sampler.py to support extending to other multimodal datasets (in addition to kitti)

Re-organize fix random seed code; Make saved checkpoint compatible among different torch versions (#986)

* Fix missing __init__.py

* Add further missing __init__.py

* add cbgs_dyn_pp_centerpoint.yaml

* add cbgs_voxel01_res3d_centerpoint.yaml

* add support of centerpoint on Nuscenes in README

* add translation augmentation, re-implement the performance of CenterPoints with 0.075m voxels

* cover the original world translation augmentation

* modify random_translation_along_X

* fix a small bug in random_world_translation()

* add cbgs_dyn_pp_centerpoint.yaml

* add cbgs_voxel01_res3d_centerpoint.yaml

* add support of centerpoint on Nuscenes in README

* add translation augmentation, re-implement the performance of CenterPoints with 0.075m voxels

* cover the original world translation augmentation

* modify random_translation_along_X

* add dynamic pillar vfe

* make the upperbound unaccessible

* add place holder for voxel generation

* add DynPillarVFE

* add PFNLayerV2

* add try except for torch_scatter package

* add dynamic pillar in readme

* add the cfg file of centerpoint with dynamic pillar

* add pyramid augmentation

* add pyramid augmentation

* format the modified file
Co-authored-by: Shaoshuai Shi <shaoshuaics@gmail.com>

* Fixes #718

* FIX: replaced wrong part

* #719 Fixes index error max_dt while inference: No gt_db_sampling -> MAX_SWEEPS-1 > # unique dt (e.g. first frame)

* move max_sweeps filter to PointFeatureEncoder with new config FILTER_SWEEPS

* update to lowercase
Co-authored-by: Christian Fruhwirth-Reisinger <christian.reisinger@student.tugraz.at>
Co-authored-by: Shaoshuai Shi <shaoshuaics@gmail.com>