repo stringlengths 2 99 | file stringlengths 13 225 | code stringlengths 0 18.3M | file_length int64 0 18.3M | avg_line_length float64 0 1.36M | max_line_length int64 0 4.26M | extension_type stringclasses 1
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3DTrans | 3DTrans-master/pcdet/models/roi_heads/roi_head_template.py | import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
from ...utils import box_coder_utils, common_utils, loss_utils
from ..model_utils.model_nms_utils import class_agnostic_nms
from .target_assigner.proposal_target_layer import ProposalTargetLayer
class RoIHeadTemplate(nn.Module):
... | 11,557 | 43.114504 | 128 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/voxelrcnn_head.py | import torch
import torch.nn as nn
from ...ops.pointnet2.pointnet2_stack import voxel_pool_modules as voxelpool_stack_modules
from ...utils import common_utils
from .roi_head_template import RoIHeadTemplate
class VoxelRCNNHead(RoIHeadTemplate):
def __init__(self, backbone_channels, model_cfg, point_cloud_range, v... | 41,813 | 45.876682 | 128 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/pvrcnn_head_semi.py | import torch.nn as nn
import torch
import torch.nn.functional as F
from ...ops.pointnet2.pointnet2_stack import pointnet2_modules as pointnet2_stack_modules
from ...utils import common_utils
from .roi_head_template import RoIHeadTemplate
class PVRCNNHeadSemi(RoIHeadTemplate):
def __init__(self, input_channels, mo... | 11,809 | 45.679842 | 123 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/partA2_head.py | import numpy as np
import torch
import torch.nn as nn
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils.spconv_utils import spconv
from .roi_head_template import RoIHeadTemplate
class PartA2FCHead(RoIHeadTemplate):
def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
... | 10,089 | 43.844444 | 120 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/__init__.py | from .roi_head_template import RoIHeadTemplate
from .partA2_head import PartA2FCHead
from .pointrcnn_head import PointRCNNHead
from .pvrcnn_head import PVRCNNHead
from .pvrcnn_head_MoE import PVRCNNHeadMoE
from .pvrcnn_head import ActivePVRCNNHead
from .second_head import SECONDHead
from .second_head import ActiveSECON... | 977 | 33.928571 | 47 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/pvrcnn_head_MoE.py | import torch.nn as nn
from ...ops.pointnet2.pointnet2_stack import pointnet2_modules as pointnet2_stack_modules
from ...utils import common_utils
from .roi_head_template import RoIHeadTemplate
class PVRCNNHeadMoE(RoIHeadTemplate):
def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
super... | 8,480 | 42.050761 | 116 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/pvrcnn_head.py | import torch.nn as nn
import torch
import torch.nn.functional as F
from ...ops.pointnet2.pointnet2_stack import pointnet2_modules as pointnet2_stack_modules
from ...utils import common_utils
from .roi_head_template import RoIHeadTemplate
class PVRCNNHead(RoIHeadTemplate):
def __init__(self, input_channels, model_... | 15,017 | 41.543909 | 116 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/second_head.py | import torch
import torch.nn as nn
from .roi_head_template import RoIHeadTemplate
from ...utils import common_utils, loss_utils
class SECONDHead(RoIHeadTemplate):
def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
super().__init__(num_class=num_class, model_cfg=model_cfg)
self.m... | 15,196 | 41.449721 | 120 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/pointrcnn_head.py | import torch
import torch.nn as nn
from ...ops.pointnet2.pointnet2_batch import pointnet2_modules
from ...ops.roipoint_pool3d import roipoint_pool3d_utils
from ...utils import common_utils
from .roi_head_template import RoIHeadTemplate
class PointRCNNHead(RoIHeadTemplate):
def __init__(self, input_channels, mode... | 7,835 | 42.533333 | 116 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/target_assigner/proposal_target_layer.py | import numpy as np
import torch
import torch.nn as nn
from ....ops.iou3d_nms import iou3d_nms_utils
class ProposalTargetLayer(nn.Module):
def __init__(self, roi_sampler_cfg):
super().__init__()
self.roi_sampler_cfg = roi_sampler_cfg
def forward(self, batch_dict):
"""
Args:
... | 10,343 | 43.779221 | 126 | py |
3DTrans | 3DTrans-master/pcdet/models/roi_heads/target_assigner/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/models/model_utils/centernet_utils.py | # This file is modified from https://github.com/tianweiy/CenterPoint
import torch
import torch.nn.functional as F
import numpy as np
import numba
def gaussian_radius(height, width, min_overlap=0.5):
"""
Args:
height: (N)
width: (N)
min_overlap:
Returns:
"""
a1 = 1
b1 =... | 7,932 | 33.04721 | 111 | py |
3DTrans | 3DTrans-master/pcdet/models/model_utils/model_nms_utils.py | import torch
from ...ops.iou3d_nms import iou3d_nms_utils
def class_agnostic_nms(box_scores, box_preds, nms_config, score_thresh=None):
src_box_scores = box_scores
if score_thresh is not None:
scores_mask = (box_scores >= score_thresh)
box_scores = box_scores[scores_mask]
box_preds = ... | 3,422 | 37.460674 | 116 | py |
3DTrans | 3DTrans-master/pcdet/models/model_utils/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/models/model_utils/basic_block_2d.py | import torch.nn as nn
class BasicBlock2D(nn.Module):
def __init__(self, in_channels, out_channels, **kwargs):
"""
Initializes convolutional block
Args:
in_channels: int, Number of input channels
out_channels: int, Number of output channels
**kwargs: Dic... | 1,038 | 28.685714 | 60 | py |
3DTrans | 3DTrans-master/pcdet/models/model_utils/ensemble.py | """
This file is to match with previous version of CenterPoint model
"""
import torch
import numpy as np
from .wbf_3d import weighted_boxes_fusion_3d
def wbf_online(boxes, scores, labels):
device = boxes.device
dtype = boxes.dtype
boxes_list = boxes.cpu().numpy()
scores_list = scores.cpu().numpy()
... | 1,000 | 24.025 | 64 | py |
3DTrans | 3DTrans-master/pcdet/models/model_utils/wbf_3d.py | """
This file is to match with previous version of CenterPoint model
"""
import copy
import numpy as np
import torch
from ...ops.iou3d_nms import iou3d_nms_utils
def prefilter_boxes(boxes, scores, labels, weights, thresh):
# Create dict with boxes stored by its label
new_boxes = dict()
for i in range(... | 6,649 | 35.141304 | 118 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/base_bev_backbone.py | import numpy as np
import torch
import torch.nn as nn
# from ...utils import uni3d_norm
from ...utils import uni3d_norm as uni3d_norm_used
# from ...utils import uni3d_norm_parallel as uni3d_norm_used
class BaseBEVBackbone(nn.Module):
def __init__(self, model_cfg, input_channels):
super().__init__()
... | 7,589 | 43.127907 | 157 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/__init__.py | from .base_bev_backbone import BaseBEVBackbone
__all__ = {
'BaseBEVBackbone': BaseBEVBackbone
}
| 101 | 16 | 46 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/map_to_bev/conv2d_collapse.py | import torch
import torch.nn as nn
from pcdet.models.model_utils.basic_block_2d import BasicBlock2D
class Conv2DCollapse(nn.Module):
def __init__(self, model_cfg, grid_size):
"""
Initializes 2D convolution collapse module
Args:
model_cfg: EasyDict, Model configuration
... | 1,451 | 36.230769 | 106 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/map_to_bev/pointpillar_scatter.py | import torch
import torch.nn as nn
class PointPillarScatter(nn.Module):
def __init__(self, model_cfg, grid_size, **kwargs):
super().__init__()
self.model_cfg = model_cfg
self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES
self.nx, self.ny, self.nz = grid_size
assert se... | 1,545 | 39.684211 | 123 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/map_to_bev/__init__.py | from .height_compression import HeightCompression
from .pointpillar_scatter import PointPillarScatter
from .conv2d_collapse import Conv2DCollapse
__all__ = {
'HeightCompression': HeightCompression,
'PointPillarScatter': PointPillarScatter,
'Conv2DCollapse': Conv2DCollapse
}
| 288 | 27.9 | 51 | py |
3DTrans | 3DTrans-master/pcdet/models/backbones_2d/map_to_bev/height_compression.py | import torch.nn as nn
class HeightCompression(nn.Module):
def __init__(self, model_cfg, **kwargs):
super().__init__()
self.model_cfg = model_cfg
self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES
def forward(self, batch_dict):
"""
Args:
batch_dict:
... | 870 | 31.259259 | 90 | py |
3DTrans | 3DTrans-master/pcdet/datasets/dataset.py | import torch
import copy
from pathlib import Path
from collections import defaultdict
import numpy as np
import torch.utils.data as torch_data
from .augmentor.data_augmentor import DataAugmentor
from .processor.data_processor import DataProcessor
from .processor.point_feature_encoder import PointFeatureEncoder
from ..u... | 15,032 | 40.527624 | 118 | py |
3DTrans | 3DTrans-master/pcdet/datasets/semi_dataset.py | from collections import defaultdict
from pathlib import Path
import copy
import numpy as np
import torch.utils.data as torch_data
from ..utils import common_utils
from .augmentor.data_augmentor import DataAugmentor
from .augmentor.ssl_data_augmentor import SSLDataAugmentor
from .processor.data_processor import DataPro... | 18,381 | 41.848485 | 179 | py |
3DTrans | 3DTrans-master/pcdet/datasets/__init__.py | import torch
from torch.utils.data import DataLoader
from torch.utils.data import DistributedSampler as _DistributedSampler
from pcdet.utils import common_utils
from .dataset import DatasetTemplate
from .kitti.kitti_dataset import KittiDataset
from .kitti.kitti_dataset_ada import ActiveKittiDataset
from .nuscenes.nus... | 13,075 | 36.36 | 164 | py |
3DTrans | 3DTrans-master/pcdet/datasets/waymo/waymo_utils.py | import os
import pickle
import numpy as np
from ...utils import common_utils
import tensorflow as tf
from waymo_open_dataset.utils import frame_utils, transform_utils, range_image_utils
from waymo_open_dataset import dataset_pb2
try:
tf.enable_eager_execution()
except:
pass
WAYMO_CLASSES = ['unknown', 'Vehicl... | 11,279 | 44.301205 | 135 | py |
3DTrans | 3DTrans-master/pcdet/datasets/waymo/waymo_dataset.py | # OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import os
import io
import pickle
import copy
import numpy as np
import torch
import multiprocessing
import SharedArray
... | 28,281 | 44.035032 | 139 | py |
3DTrans | 3DTrans-master/pcdet/datasets/waymo/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/waymo/waymo_dataset_ada.py | import os
import io
import pickle
import copy
import numpy as np
import torch
import multiprocessing
import SharedArray
import torch.distributed as dist
from tqdm import tqdm
from pathlib import Path
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils, common_utils
from ..dataset imp... | 28,867 | 44.247649 | 139 | py |
3DTrans | 3DTrans-master/pcdet/datasets/waymo/waymo_eval.py | # OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import numpy as np
import pickle
import tensorflow as tf
from google.protobuf import text_format
from waymo_open_datase... | 10,489 | 41.469636 | 116 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_dataset.py | import copy
import pickle
import os
import numpy as np
from PIL import Image
import torch
import torch.nn.functional as F
from pathlib import Path
from ..dataset import DatasetTemplate
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils
from .once_toolkits import Octopus
# Since w... | 18,925 | 39.353945 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_semi_dataset.py | import copy
import pickle
import numpy as np
import os
from pathlib import Path
from ..semi_dataset import SemiDatasetTemplate
from .once_toolkits import Octopus
import io
def split_once_semi_data(dataset_cfg, info_paths, data_splits, root_path, labeled_ratio, logger):
oss_path = dataset_cfg.OSS_PATH if 'OSS_PATH'... | 14,854 | 37.584416 | 128 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_toolkits.py | import json
import os.path as osp
from collections import defaultdict
import cv2
import numpy as np
class Octopus(object):
"""
dataset structure:
- data_root
- train_split.txt
- val_split.txt
- test_split.txt
-
"""
camera_names = ['cam01', 'cam03', 'cam05', 'cam06', ... | 6,304 | 41.891156 | 101 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_target_dataset.py | import copy
import pickle
import numpy as np
from ..dataset import DatasetTemplate
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils
from .once_toolkits import Octopus
class ONCEDataset(DatasetTemplate):
def __init__(self, dataset_cfg, class_names, training=True, root_path=No... | 20,276 | 39.554 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_dataset_ada.py | import copy
import pickle
import os
import numpy as np
from PIL import Image
import torch
import torch.nn.functional as F
from pathlib import Path
from ..dataset import DatasetTemplate
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils
from .once_toolkits import Octopus
# Since w... | 20,079 | 39.89613 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_eval/iou_utils.py | """
Rotate IoU computation is referred from https://github.com/hongzhenwang/RRPN-revise
"""
import math
import numba
import numpy as np
from numba import cuda
@numba.jit(nopython=True)
def div_up(m, n):
return m // n + (m % n > 0)
@cuda.jit('(float32[:], float32[:], float32[:])', device=True, inline=True)
def tr... | 12,048 | 33.924638 | 95 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_eval/evaluation.py | """
Evaluation Server
Written by Jiageng Mao
"""
import numpy as np
import numba
from .iou_utils import rotate_iou_gpu_eval
from .eval_utils import compute_split_parts, overall_filter, distance_filter, overall_distance_filter
iou_threshold_dict = {
'Car': 0.7,
'Bus': 0.7,
'Truck': 0.7,
'Pedestrian': ... | 16,368 | 37.881235 | 139 | py |
3DTrans | 3DTrans-master/pcdet/datasets/once/once_eval/eval_utils.py | import numpy as np
def compute_split_parts(num_samples, num_parts):
part_samples = num_samples // num_parts
remain_samples = num_samples % num_parts
if part_samples == 0:
return [num_samples]
if remain_samples == 0:
return [part_samples] * num_parts
else:
return [part_sample... | 1,530 | 29.62 | 94 | py |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/lyft_dataset_ada.py | import copy
import pickle
from pathlib import Path
import os
import io
import numpy as np
from tqdm import tqdm
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import common_utils, box_utils
from ..dataset import DatasetTemplate
class ActiveLyftDataset(DatasetTemplate):
"""Petrel Ceph sto... | 22,729 | 44.009901 | 146 | py |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/lyft_utils.py | """
The Lyft data pre-processing and evaluation is modified from
https://github.com/poodarchu/Det3D
"""
import operator
from functools import reduce
from pathlib import Path
import numpy as np
import tqdm
from lyft_dataset_sdk.utils.data_classes import Box, Quaternion
from lyft_dataset_sdk.lyftdataset import LyftData... | 12,061 | 35.222222 | 109 | py |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/lyft_dataset.py | import copy
import pickle
from pathlib import Path
import os
import io
import numpy as np
from tqdm import tqdm
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import common_utils, box_utils
from ..dataset import DatasetTemplate
class LyftDataset(DatasetTemplate):
"""Petrel Ceph storage b... | 20,471 | 43.12069 | 146 | py |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/lyft_mAP_eval/lyft_eval.py | """
modified from lyft toolkit https://github.com/lyft/nuscenes-devkit.git
"""
"""
mAP 3D calculation for the data in nuScenes format.
The intput files expected to have the format:
Expected fields:
gt = [{
'sample_token': '0f0e3ce89d2324d8b45aa55a7b4f8207fbb039a550991a5149214f98cec136ac',
'translation': [... | 13,634 | 30.272936 | 132 | py |
3DTrans | 3DTrans-master/pcdet/datasets/lyft/lyft_mAP_eval/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/processor/point_feature_encoder.py | import numpy as np
class PointFeatureEncoder(object):
def __init__(self, config, point_cloud_range=None):
super().__init__()
self.point_encoding_config = config
assert list(self.point_encoding_config.src_feature_list[0:3]) == ['x', 'y', 'z']
self.used_feature_list = self.point_enco... | 2,169 | 37.070175 | 107 | py |
3DTrans | 3DTrans-master/pcdet/datasets/processor/data_processor.py | from functools import partial
import numpy as np
from skimage import transform
from ...utils import box_utils, common_utils
tv = None
try:
import cumm.tensorview as tv
except:
pass
class VoxelGeneratorWrapper():
def __init__(self, vsize_xyz, coors_range_xyz, num_point_features, max_num_points_per_voxel... | 17,420 | 41.07971 | 119 | py |
3DTrans | 3DTrans-master/pcdet/datasets/processor/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/ssl_database_sampler.py | import numpy as np
import pickle
from ...ops.iou3d_nms import iou3d_nms_utils
from ...utils import box_utils
import os
import io
class SSLDataBaseSampler(object):
def __init__(self, root_path, sampler_cfg, class_names, logger=None, client=None, oss_flag=False):
self.root_path = root_path
self.clas... | 12,576 | 44.404332 | 120 | py |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/augmentor_utils.py | import torch
import numpy as np
import numba
import math
import copy
from ...utils import common_utils
from ...utils import box_utils
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...ops.iou3d_nms import iou3d_nms_utils
import warnings
try:
from numba.errors import NumbaPerformanceWarning
warn... | 35,553 | 37.3125 | 126 | py |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/ssl_data_augmentor.py | from functools import partial
import numpy as np
import copy
from ...utils import common_utils
from .ssl_database_sampler import SSLDataBaseSampler
class SSLDataAugmentor(object):
def __init__(self, root_path, augmentor_configs, class_names, logger=None, oss_flag=False):
self.root_path = root_path
... | 6,295 | 37.390244 | 126 | py |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/data_augmentor.py | from functools import partial
import numpy as np
from ...utils import common_utils
from . import augmentor_utils, database_sampler
class DataAugmentor(object):
def __init__(self, root_path, augmentor_configs, class_names, logger=None, oss_flag=False):
self.root_path = root_path
self.class_names ... | 16,561 | 39.692875 | 113 | py |
3DTrans | 3DTrans-master/pcdet/datasets/augmentor/database_sampler.py | import pickle
import os
import copy
import numpy as np
import SharedArray
import torch.distributed as dist
from ...ops.iou3d_nms import iou3d_nms_utils
from ...utils import box_utils, common_utils
import os
import io
class DataBaseSampler(object):
def __init__(self, root_path, sampler_cfg, class_names, logger=No... | 11,921 | 42.510949 | 120 | py |
3DTrans | 3DTrans-master/pcdet/datasets/nuscenes/nuscenes_utils.py | """
The NuScenes data pre-processing and evaluation is modified from
https://github.com/traveller59/second.pytorch and https://github.com/poodarchu/Det3D
"""
import operator
from functools import reduce
from pathlib import Path
import numpy as np
import tqdm
from nuscenes.utils.data_classes import Box
from nuscenes.u... | 19,464 | 36.005703 | 111 | py |
3DTrans | 3DTrans-master/pcdet/datasets/nuscenes/nuscenes_dataset.py | import copy
import pickle
from pathlib import Path
import os
import io
import numpy as np
from tqdm import tqdm
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import common_utils
from ..dataset import DatasetTemplate
class NuScenesDataset(DatasetTemplate):
"""Petrel Ceph storage backend.... | 22,903 | 42.461101 | 129 | py |
3DTrans | 3DTrans-master/pcdet/datasets/nuscenes/nuscenes_semi_dataset.py | import copy
import pickle
from pathlib import Path
import os
import io
import numpy as np
from tqdm import tqdm
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import common_utils
from ..semi_dataset import SemiDatasetTemplate
def split_nuscenes_semi_data(dataset_cfg, info_paths, data_splits, ... | 30,827 | 41.876217 | 161 | py |
3DTrans | 3DTrans-master/pcdet/datasets/nuscenes/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/nuscenes/nuscenes_dataset_ada.py | import copy
import pickle
from pathlib import Path
import os
import io
import numpy as np
from tqdm import tqdm
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import common_utils
from ..dataset import DatasetTemplate
class ActiveNuScenesDataset(DatasetTemplate):
"""Petrel Ceph storage ba... | 23,617 | 42.899628 | 130 | py |
3DTrans | 3DTrans-master/pcdet/datasets/pandaset/pandaset_dataset.py | """
Dataset from Pandaset (Hesai)
"""
import pickle
import os
try:
import pandas as pd
import pandaset as ps
except:
pass
import numpy as np
from ..dataset import DatasetTemplate
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
import torch
def pose_dict_to_numpy(pose):
"""
Con... | 19,065 | 37.910204 | 157 | py |
3DTrans | 3DTrans-master/pcdet/datasets/pandaset/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_dataset_ada.py | import copy
import pickle
import os
from random import sample
import numpy as np
from pathlib import Path
from . import kitti_utils
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils, calibration_kitti, common_utils, object3d_kitti
from ..dataset import DatasetTemplate
# using from... | 25,584 | 43.036145 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_dataset.py | import copy
import pickle
import os
import numpy as np
from . import kitti_utils
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
from ...utils import box_utils, calibration_kitti, common_utils, object3d_kitti
from ..dataset import DatasetTemplate
# using from skimage import io when preprocessing the KITTI
# ... | 24,946 | 42.766667 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_eval.py | import pickle
import argparse
from .kitti_object_eval_python import eval as kitti_eval
import copy
import numpy as np
from . import kitti_utils
def filter_by_range(infos, gt_key, range_min=0, range_max=80, is_pred=False, dataset='kitti'):
infos = copy.deepcopy(infos)
total_objs = 0
for i, info in enumerat... | 4,252 | 34.441667 | 118 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_utils.py | import numpy as np
from ...utils import box_utils
def transform_annotations_to_kitti_format(annos, map_name_to_kitti=None, info_with_fakelidar=False):
"""
Args:
annos:
map_name_to_kitti: dict, map name to KITTI names (Car, Pedestrian, Cyclist)
info_with_fakelidar:
Returns:
"""... | 2,576 | 38.045455 | 105 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_semi_dataset.py | import copy
import pickle
from pathlib import Path
from . import kitti_utils
import io
import os
import numpy as np
from tqdm import tqdm
from ...utils import box_utils, calibration_kitti, common_utils, object3d_kitti
from ..semi_dataset import SemiDatasetTemplate
def split_kitti_semi_data(dataset_cfg, info_paths, dat... | 33,193 | 41.124365 | 140 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_object_eval_python/rotate_iou.py | #####################
# Based on https://github.com/hongzhenwang/RRPN-revise
# Licensed under The MIT License
# Author: yanyan, scrin@foxmail.com
#####################
import math
import numba
import numpy as np
from numba import cuda
@numba.jit(nopython=True)
def div_up(m, n):
return m // n + (m % n > 0)
@cuda... | 11,552 | 33.903323 | 95 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_object_eval_python/evaluate.py | import time
import fire
import .kitti_common as kitti
from .eval import get_coco_eval_result, get_official_eval_result
def _read_imageset_file(path):
with open(path, 'r') as f:
lines = f.readlines()
return [int(line) for line in lines]
def evaluate(label_path,
result_path,
... | 909 | 25.764706 | 74 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_object_eval_python/kitti_common.py | import concurrent.futures as futures
import os
import pathlib
import re
from collections import OrderedDict
import numpy as np
from skimage import io
def get_image_index_str(img_idx):
return "{:06d}".format(img_idx)
def get_kitti_info_path(idx,
prefix,
info_type=... | 15,309 | 36.070218 | 79 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_object_eval_python/eval.py | import io as sysio
import numba
import numpy as np
from .rotate_iou import rotate_iou_gpu_eval
@numba.jit
def get_thresholds(scores: np.ndarray, num_gt, num_sample_pts=41):
scores.sort()
scores = scores[::-1]
current_recall = 0
thresholds = []
for i, score in enumerate(scores):
l_recall ... | 33,659 | 40.606922 | 102 | py |
3DTrans | 3DTrans-master/pcdet/datasets/kitti/kitti_object_eval_python/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/utils/box_utils.py | import numpy as np
import scipy
import torch
import copy
from scipy.spatial import Delaunay
from ..ops.roiaware_pool3d import roiaware_pool3d_utils
from . import common_utils
def in_hull(p, hull):
"""
:param p: (N, K) test points
:param hull: (M, K) M corners of a box
:return (N) bool
"""
try... | 11,158 | 33.981191 | 118 | py |
3DTrans | 3DTrans-master/pcdet/utils/loss_utils.py | import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
from . import box_utils
class SigmoidFocalClassificationLoss(nn.Module):
"""
Sigmoid focal cross entropy loss.
"""
def __init__(self, gamma: float = 2.0, alpha: float = 0.25):
"""
Args:
... | 20,744 | 32.622366 | 107 | py |
3DTrans | 3DTrans-master/pcdet/utils/box_coder_utils.py | import numpy as np
import torch
class ResidualCoder(object):
def __init__(self, code_size=7, encode_angle_by_sincos=False, **kwargs):
super().__init__()
self.code_size = code_size
self.encode_angle_by_sincos = encode_angle_by_sincos
if self.encode_angle_by_sincos:
self.... | 17,075 | 36.041215 | 123 | py |
3DTrans | 3DTrans-master/pcdet/utils/object3d_kitti.py | import numpy as np
def get_objects_from_label(label_file):
with open(label_file, 'r') as f:
lines = f.readlines()
objects = [Object3d(line) for line in lines]
return objects
def cls_type_to_id(cls_type):
type_to_id = {'Car': 1, 'Pedestrian': 2, 'Cyclist': 3, 'Van': 4}
if cls_type not in ... | 3,449 | 40.071429 | 119 | py |
3DTrans | 3DTrans-master/pcdet/utils/active_learning_2D_utils.py | import enum
import io
import os
import tqdm
import pickle
import random
import torch
import numpy as np
import torch.nn as nn
import torch.distributed as dist
import torch.nn.functional as F
from pathlib import Path
from pcdet.models import load_data_to_gpu
from pcdet.utils import common_utils, commu_utils
from sklearn... | 12,079 | 36.055215 | 127 | py |
3DTrans | 3DTrans-master/pcdet/utils/common_utils.py | import logging
import os
import pickle
import random
import shutil
import subprocess
import SharedArray
import numpy as np
import torch
import torch.distributed as dist
import torch.multiprocessing as mp
from torch.autograd import Variable,Function
from ..utils.spconv_utils import spconv
def check_numpy_to_torch(x):... | 25,895 | 34.966667 | 137 | py |
3DTrans | 3DTrans-master/pcdet/utils/uni3d_norm_2_in.py | import torch.nn as nn
import torch.nn.functional as F
from torch.nn.modules.module import Module
from torch.nn.parameter import Parameter
import torch
import itertools
class _UniNorm(Module):
def __init__(self, num_features, dataset_from_flag=1, eps=1e-5, momentum=0.1, affine=True, track_running_stats=True, voxel... | 19,844 | 46.362768 | 140 | py |
3DTrans | 3DTrans-master/pcdet/utils/transform_utils.py | import math
import torch
try:
from kornia.geometry.conversions import (
convert_points_to_homogeneous,
convert_points_from_homogeneous,
)
except:
pass
# print('Warning: kornia is not installed. This package is only required by CaDDN')
def project_to_image(project, points):
"""
... | 3,092 | 32.619565 | 104 | py |
3DTrans | 3DTrans-master/pcdet/utils/calibration_kitti.py | import numpy as np
def get_calib_from_file(calib_file, oss_flag):
if oss_flag == False:
with open(calib_file) as f:
lines = f.readlines()
obj = lines[2].strip().split(' ')[1:]
P2 = np.array(obj, dtype=np.float32)
obj = lines[3].strip().split(' ')[1:]
P3... | 5,026 | 35.165468 | 116 | py |
3DTrans | 3DTrans-master/pcdet/utils/uni3d_norm_parallel.py | import torch.nn as nn
import torch.nn.functional as F
from torch.nn.modules.module import Module
from torch.nn.parameter import Parameter
import torch
import itertools
class _UniNorm(Module):
def __init__(self, num_features, dataset_from_flag=1, eps=1e-5, momentum=0.1, affine=True, track_running_stats=True, voxel... | 20,022 | 46.112941 | 149 | py |
3DTrans | 3DTrans-master/pcdet/utils/uni3d_norm.py | import torch.nn as nn
import torch.nn.functional as F
from torch.nn.modules.module import Module
from torch.nn.parameter import Parameter
import torch
import itertools
class _UniNorm(Module):
def __init__(self, num_features, dataset_from_flag=1, eps=1e-5, momentum=0.1, affine=True, track_running_stats=True, voxel... | 21,012 | 46.648526 | 149 | py |
3DTrans | 3DTrans-master/pcdet/utils/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/utils/self_training_utils.py | import torch
import os
import glob
import tqdm
import numpy as np
import torch.distributed as dist
from pcdet.config import cfg
from pcdet.models import load_data_to_gpu
from pcdet.utils import common_utils, commu_utils, memory_ensemble_utils
import pickle as pkl
import re
#PSEUDO_LABELS = {}
from multiprocessing impo... | 8,934 | 35.769547 | 95 | py |
3DTrans | 3DTrans-master/pcdet/utils/spconv_utils.py | from typing import Set
try:
import spconv.pytorch as spconv
except:
import spconv as spconv
import torch.nn as nn
def find_all_spconv_keys(model: nn.Module, prefix="") -> Set[str]:
"""
Finds all spconv keys that need to have weight's transposed
"""
found_keys: Set[str] = set()
for name, ... | 896 | 24.628571 | 73 | py |
3DTrans | 3DTrans-master/pcdet/utils/active_learning_utils.py | import io
import os
import tqdm
import pickle
import random
import torch
import numpy as np
import torch.distributed as dist
import torch.nn.functional as F
from pathlib import Path
from pcdet.models import load_data_to_gpu
from pcdet.utils import common_utils, commu_utils
def active_evaluate(model, target_loader, r... | 15,595 | 40.589333 | 191 | py |
3DTrans | 3DTrans-master/pcdet/utils/memory_ensemble_utils.py | import torch
import numpy as np
from scipy.optimize import linear_sum_assignment
from pcdet.utils import common_utils
from pcdet.ops.iou3d_nms import iou3d_nms_utils
from pcdet.models.model_utils.model_nms_utils import class_agnostic_nms
def consistency_ensemble(gt_infos_a, gt_infos_b, memory_ensemble_cfg):
"""
... | 14,715 | 41.90379 | 117 | py |
3DTrans | 3DTrans-master/pcdet/utils/commu_utils.py | """
This file contains primitives for multi-gpu communication.
This is useful when doing distributed training.
deeply borrow from maskrcnn-benchmark and ST3D
"""
import pickle
import time
import torch
import torch.distributed as dist
def get_world_size():
if not dist.is_available():
return 1
if not... | 5,253 | 27.710383 | 89 | py |
3DTrans | 3DTrans-master/pcdet/ops/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/ops/roipoint_pool3d/roipoint_pool3d_utils.py | import torch
import torch.nn as nn
from torch.autograd import Function
from ...utils import box_utils
from . import roipoint_pool3d_cuda
class RoIPointPool3d(nn.Module):
def __init__(self, num_sampled_points=512, pool_extra_width=1.0):
super().__init__()
self.num_sampled_points = num_sampled_poin... | 2,226 | 31.75 | 112 | py |
3DTrans | 3DTrans-master/pcdet/ops/roipoint_pool3d/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_stack/voxel_query_utils.py | import torch
from torch.autograd import Variable
from torch.autograd import Function
import torch.nn as nn
from typing import List
from . import pointnet2_stack_cuda as pointnet2
from . import pointnet2_utils
class VoxelQuery(Function):
@staticmethod
def forward(ctx, max_range: int, radius: float, nsample: i... | 4,148 | 40.079208 | 134 | py |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_stack/pointnet2_utils.py | import torch
import torch.nn as nn
from torch.autograd import Function, Variable
from . import pointnet2_stack_cuda as pointnet2
class BallQuery(Function):
@staticmethod
def forward(ctx, radius: float, nsample: int, xyz: torch.Tensor, xyz_batch_cnt: torch.Tensor,
new_xyz: torch.Tensor, new_x... | 18,073 | 38.462882 | 127 | py |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_stack/voxel_pool_modules.py | import torch
import torch.nn as nn
import torch.nn.functional as F
from . import voxel_query_utils
from typing import List
class NeighborVoxelSAModuleMSG(nn.Module):
def __init__(self, *, query_ranges: List[List[int]], radii: List[float],
nsamples: List[int], mlps: List[List[int]], use_... | 5,672 | 41.977273 | 108 | py |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_stack/__init__.py | 0 | 0 | 0 | py | |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_stack/pointnet2_modules.py | from typing import List
import torch
import torch.nn as nn
import torch.nn.functional as F
from . import pointnet2_utils
def build_local_aggregation_module(input_channels, config):
local_aggregation_name = config.get('NAME', 'StackSAModuleMSG')
if local_aggregation_name == 'StackSAModuleMSG':
mlps ... | 21,385 | 44.40552 | 132 | py |
3DTrans | 3DTrans-master/pcdet/ops/pointnet2/pointnet2_batch/pointnet2_utils.py | from typing import Tuple
import torch
import torch.nn as nn
from torch.autograd import Function, Variable
from . import pointnet2_batch_cuda as pointnet2
class FarthestPointSampling(Function):
@staticmethod
def forward(ctx, xyz: torch.Tensor, npoint: int) -> torch.Tensor:
"""
Uses iterative ... | 9,717 | 32.395189 | 118 | py |
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