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mmdet3d.zip 大约有667个文件
  1. mmdet3d/
  2. mmdet3d/apis/
  3. mmdet3d/apis/inference.py 16.33KB
  4. mmdet3d/apis/test.py 8.43KB
  5. mmdet3d/apis/train.py 6.79KB
  6. mmdet3d/apis/__init__.py 605B
  7. mmdet3d/apis/__pycache__/
  8. mmdet3d/apis/__pycache__/inference.cpython-38.pyc 10.63KB
  9. mmdet3d/apis/__pycache__/test.cpython-38.pyc 5.86KB
  10. mmdet3d/apis/__pycache__/train.cpython-38.pyc 4.14KB
  11. mmdet3d/apis/__pycache__/__init__.cpython-38.pyc 562B
  12. mmdet3d/core/
  13. mmdet3d/core/anchor/
  14. mmdet3d/core/anchor/anchor_3d_generator.py 16.79KB
  15. mmdet3d/core/anchor/__init__.py 441B
  16. mmdet3d/core/anchor/__pycache__/
  17. mmdet3d/core/anchor/__pycache__/anchor_3d_generator.cpython-38.pyc 12.62KB
  18. mmdet3d/core/anchor/__pycache__/__init__.cpython-38.pyc 396B
  19. mmdet3d/core/bbox/
  20. mmdet3d/core/bbox/assigners/
  21. mmdet3d/core/bbox/assigners/hungarian_assigner_3d.py 10.21KB
  22. mmdet3d/core/bbox/assigners/match_cost.py 1.35KB
  23. mmdet3d/core/bbox/assigners/__init__.py 245B
  24. mmdet3d/core/bbox/assigners/__pycache__/
  25. mmdet3d/core/bbox/assigners/__pycache__/match_cost.cpython-38.pyc 1.97KB
  26. mmdet3d/core/bbox/assigners/__pycache__/__init__.cpython-38.pyc 300B
  27. mmdet3d/core/bbox/box_np_ops.py 32.75KB
  28. mmdet3d/core/bbox/coders/
  29. mmdet3d/core/bbox/coders/anchor_free_bbox_coder.py 4.26KB
  30. mmdet3d/core/bbox/coders/centerpoint_bbox_coders.py 8.39KB
  31. mmdet3d/core/bbox/coders/delta_xyzwhlr_bbox_coder.py 3.06KB
  32. mmdet3d/core/bbox/coders/groupfree3d_bbox_coder.py 7.03KB
  33. mmdet3d/core/bbox/coders/partial_bin_based_bbox_coder.py 8.93KB
  34. mmdet3d/core/bbox/coders/__init__.py 557B
  35. mmdet3d/core/bbox/coders/__pycache__/
  36. mmdet3d/core/bbox/coders/__pycache__/anchor_free_bbox_coder.cpython-38.pyc 3.62KB
  37. mmdet3d/core/bbox/coders/__pycache__/centerpoint_bbox_coders.cpython-38.pyc 6.41KB
  38. mmdet3d/core/bbox/coders/__pycache__/delta_xyzwhlr_bbox_coder.cpython-38.pyc 3.33KB
  39. mmdet3d/core/bbox/coders/__pycache__/groupfree3d_bbox_coder.cpython-38.pyc 5.08KB
  40. mmdet3d/core/bbox/coders/__pycache__/partial_bin_based_bbox_coder.cpython-38.pyc 6.98KB
  41. mmdet3d/core/bbox/coders/__pycache__/__init__.cpython-38.pyc 607B
  42. mmdet3d/core/bbox/iou_calculators/
  43. mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py 12.95KB
  44. mmdet3d/core/bbox/iou_calculators/__init__.py 492B
  45. mmdet3d/core/bbox/iou_calculators/__pycache__/
  46. mmdet3d/core/bbox/iou_calculators/__pycache__/iou3d_calculator.cpython-38.pyc 11.38KB
  47. mmdet3d/core/bbox/iou_calculators/__pycache__/__init__.cpython-38.pyc 432B
  48. mmdet3d/core/bbox/samplers/
  49. mmdet3d/core/bbox/samplers/iou_neg_piecewise_sampler.py 6.7KB
  50. mmdet3d/core/bbox/samplers/__init__.py 648B
  51. mmdet3d/core/bbox/samplers/__pycache__/
  52. mmdet3d/core/bbox/samplers/__pycache__/iou_neg_piecewise_sampler.cpython-38.pyc 4.52KB
  53. mmdet3d/core/bbox/samplers/__pycache__/__init__.cpython-38.pyc 554B
  54. mmdet3d/core/bbox/structures/
  55. mmdet3d/core/bbox/structures/base_box3d.py 16.12KB
  56. mmdet3d/core/bbox/structures/box_3d_mode.py 5.89KB
  57. mmdet3d/core/bbox/structures/cam_box3d.py 12.42KB
  58. mmdet3d/core/bbox/structures/coord_3d_mode.py 10.67KB
  59. mmdet3d/core/bbox/structures/depth_box3d.py 13.35KB
  60. mmdet3d/core/bbox/structures/lidar_box3d.py 10.28KB
  61. mmdet3d/core/bbox/structures/utils.py 7.75KB
  62. mmdet3d/core/bbox/structures/__init__.py 737B
  63. mmdet3d/core/bbox/structures/__pycache__/
  64. mmdet3d/core/bbox/structures/__pycache__/base_box3d.cpython-38.pyc 16.02KB
  65. mmdet3d/core/bbox/structures/__pycache__/box_3d_mode.cpython-38.pyc 4.5KB
  66. mmdet3d/core/bbox/structures/__pycache__/cam_box3d.cpython-38.pyc 10.73KB
  67. mmdet3d/core/bbox/structures/__pycache__/coord_3d_mode.cpython-38.pyc 7.37KB
  68. mmdet3d/core/bbox/structures/__pycache__/depth_box3d.cpython-38.pyc 11.4KB
  69. mmdet3d/core/bbox/structures/__pycache__/lidar_box3d.cpython-38.pyc 9.4KB
  70. mmdet3d/core/bbox/structures/__pycache__/utils.cpython-38.pyc 6.54KB
  71. mmdet3d/core/bbox/structures/__pycache__/__init__.cpython-38.pyc 775B
  72. mmdet3d/core/bbox/transforms.py 2.36KB
  73. mmdet3d/core/bbox/__init__.py 1.69KB
  74. mmdet3d/core/bbox/__pycache__/
  75. mmdet3d/core/bbox/__pycache__/box_np_ops.cpython-38.pyc 27.54KB
  76. mmdet3d/core/bbox/__pycache__/transforms.cpython-38.pyc 2.36KB
  77. mmdet3d/core/bbox/__pycache__/__init__.cpython-38.pyc 1.41KB
  78. mmdet3d/core/evaluation/
  79. mmdet3d/core/evaluation/indoor_eval.py 10.83KB
  80. mmdet3d/core/evaluation/kitti_utils/
  81. mmdet3d/core/evaluation/kitti_utils/eval.py 32.78KB
  82. mmdet3d/core/evaluation/kitti_utils/rotate_iou.py 13KB
  83. mmdet3d/core/evaluation/kitti_utils/__init__.py 151B
  84. mmdet3d/core/evaluation/kitti_utils/__pycache__/
  85. mmdet3d/core/evaluation/kitti_utils/__pycache__/eval.cpython-38.pyc 19.52KB
  86. mmdet3d/core/evaluation/kitti_utils/__pycache__/__init__.cpython-38.pyc 240B
  87. mmdet3d/core/evaluation/lyft_eval.py 10.11KB
  88. mmdet3d/core/evaluation/seg_eval.py 3.66KB
  89. mmdet3d/core/evaluation/waymo_utils/
  90. mmdet3d/core/evaluation/waymo_utils/prediction_kitti_to_waymo.py 9.47KB
  91. mmdet3d/core/evaluation/__init__.py 309B
  92. mmdet3d/core/evaluation/__pycache__/
  93. mmdet3d/core/evaluation/__pycache__/indoor_eval.cpython-38.pyc 8.61KB
  94. mmdet3d/core/evaluation/__pycache__/lyft_eval.cpython-38.pyc 8.13KB
  95. mmdet3d/core/evaluation/__pycache__/seg_eval.cpython-38.pyc 3.43KB
  96. mmdet3d/core/evaluation/__pycache__/__init__.cpython-38.pyc 363B
  97. mmdet3d/core/points/
  98. mmdet3d/core/points/base_points.py 16.26KB
  99. mmdet3d/core/points/cam_points.py 2.8KB
  100. mmdet3d/core/points/depth_points.py 2.8KB
  101. mmdet3d/core/points/lidar_points.py 2.8KB
  102. mmdet3d/core/points/__init__.py 921B
  103. mmdet3d/core/points/__pycache__/
  104. mmdet3d/core/points/__pycache__/base_points.cpython-38.pyc 13.52KB
  105. mmdet3d/core/points/__pycache__/cam_points.cpython-38.pyc 3.12KB
  106. mmdet3d/core/points/__pycache__/depth_points.cpython-38.pyc 3.12KB
  107. mmdet3d/core/points/__pycache__/lidar_points.cpython-38.pyc 3.12KB
  108. mmdet3d/core/points/__pycache__/__init__.cpython-38.pyc 910B
  109. mmdet3d/core/post_processing/
  110. mmdet3d/core/post_processing/box3d_nms.py 13.64KB
  111. mmdet3d/core/post_processing/merge_augs.py 3.56KB
  112. mmdet3d/core/post_processing/__init__.py 514B
  113. mmdet3d/core/post_processing/__pycache__/
  114. mmdet3d/core/post_processing/__pycache__/box3d_nms.cpython-38.pyc 2.68KB
  115. mmdet3d/core/post_processing/__pycache__/merge_augs.cpython-38.pyc 251B
  116. mmdet3d/core/post_processing/__pycache__/__init__.cpython-38.pyc 460B
  117. mmdet3d/core/utils/
  118. mmdet3d/core/utils/gaussian.py 2.48KB
  119. mmdet3d/core/utils/__init__.py 193B
  120. mmdet3d/core/utils/__pycache__/
  121. mmdet3d/core/utils/__pycache__/gaussian.cpython-38.pyc 2.54KB
  122. mmdet3d/core/utils/__pycache__/__init__.cpython-38.pyc 261B
  123. mmdet3d/core/visualizer/
  124. mmdet3d/core/visualizer/image_vis.py 8KB
  125. mmdet3d/core/visualizer/open3d_vis.py 17.31KB
  126. mmdet3d/core/visualizer/show_result.py 9.99KB
  127. mmdet3d/core/visualizer/__init__.py 234B
  128. mmdet3d/core/visualizer/__pycache__/
  129. mmdet3d/core/visualizer/__pycache__/image_vis.cpython-38.pyc 6.48KB
  130. mmdet3d/core/visualizer/__pycache__/open3d_vis.cpython-38.pyc 13.2KB
  131. mmdet3d/core/visualizer/__pycache__/show_result.cpython-38.pyc 7.39KB
  132. mmdet3d/core/visualizer/__pycache__/__init__.cpython-38.pyc 261B
  133. mmdet3d/core/voxel/
  134. mmdet3d/core/voxel/builder.py 484B
  135. mmdet3d/core/voxel/voxel_generator.py 11.2KB
  136. mmdet3d/core/voxel/__init__.py 190B
  137. mmdet3d/core/voxel/__pycache__/
  138. mmdet3d/core/voxel/__pycache__/builder.cpython-38.pyc 565B
  139. mmdet3d/core/voxel/__pycache__/voxel_generator.cpython-38.pyc 8.33KB
  140. mmdet3d/core/voxel/__pycache__/__init__.cpython-38.pyc 259B
  141. mmdet3d/core/__init__.py 397B
  142. mmdet3d/core/__pycache__/
  143. mmdet3d/core/__pycache__/__init__.cpython-38.pyc 279B
  144. mmdet3d/datasets/
  145. mmdet3d/datasets/builder.py 1.93KB
  146. mmdet3d/datasets/custom_3d.py 13.1KB
  147. mmdet3d/datasets/custom_3d_seg.py 15.98KB
  148. mmdet3d/datasets/dataset_wrappers.py 6.66KB
  149. mmdet3d/datasets/internal_dataset.py 26.79KB
  150. mmdet3d/datasets/kitti2d_dataset.py 8.54KB
  151. mmdet3d/datasets/kitti_dataset.py 30.27KB
  152. mmdet3d/datasets/kitti_mono_dataset.py 22.62KB
  153. mmdet3d/datasets/lyft_dataset.py 21.51KB
  154. mmdet3d/datasets/nuscenes_dataset.py 37.47KB
  155. mmdet3d/datasets/nuscenes_monocular_dataset.py 14.06KB
  156. mmdet3d/datasets/nuscenes_monocular_dataset_map_2.py 14.64KB
  157. mmdet3d/datasets/nuscenes_mono_dataset.py 31.94KB
  158. mmdet3d/datasets/pipelines/
  159. mmdet3d/datasets/pipelines/data_augment_utils.py 16.63KB
  160. mmdet3d/datasets/pipelines/dbsampler.py 11.29KB
  161. mmdet3d/datasets/pipelines/formating.py 11.15KB
  162. mmdet3d/datasets/pipelines/loading.py 41.08KB
  163. mmdet3d/datasets/pipelines/multi_view.py 5.75KB
  164. mmdet3d/datasets/pipelines/test_time_aug.py 5.36KB
  165. mmdet3d/datasets/pipelines/transforms_3d.py 77.53KB
  166. mmdet3d/datasets/pipelines/__init__.py 1.91KB
  167. mmdet3d/datasets/pipelines/__pycache__/
  168. mmdet3d/datasets/pipelines/__pycache__/data_augment_utils.cpython-38.pyc 10.61KB
  169. mmdet3d/datasets/pipelines/__pycache__/dbsampler.cpython-38.pyc 9.76KB
  170. mmdet3d/datasets/pipelines/__pycache__/formating.cpython-38.pyc 9.6KB
  171. mmdet3d/datasets/pipelines/__pycache__/loading.cpython-38.pyc 29.69KB
  172. mmdet3d/datasets/pipelines/__pycache__/multi_view.cpython-38.pyc 5.63KB
  173. mmdet3d/datasets/pipelines/__pycache__/test_time_aug.cpython-38-pytest-7.4.0.pyc 5.35KB
  174. mmdet3d/datasets/pipelines/__pycache__/test_time_aug.cpython-38.pyc 4.1KB
  175. mmdet3d/datasets/pipelines/__pycache__/transforms_3d.cpython-38.pyc 60.93KB
  176. mmdet3d/datasets/pipelines/__pycache__/__init__.cpython-38.pyc 1.63KB
  177. mmdet3d/datasets/s3dis_dataset.py 16.76KB
  178. mmdet3d/datasets/scannet_dataset.py 17.52KB
  179. mmdet3d/datasets/semantickitti_dataset.py 3.07KB
  180. mmdet3d/datasets/sunrgbd_dataset.py 10.73KB
  181. mmdet3d/datasets/utils.py 5.63KB
  182. mmdet3d/datasets/waymo_dataset.py 22.55KB
  183. mmdet3d/datasets/__init__.py 2.38KB
  184. mmdet3d/datasets/__pycache__/
  185. mmdet3d/datasets/__pycache__/builder.cpython-38.pyc 1.69KB
  186. mmdet3d/datasets/__pycache__/custom_3d.cpython-38.pyc 12.48KB
  187. mmdet3d/datasets/__pycache__/custom_3d_seg.cpython-38.pyc 14.41KB
  188. mmdet3d/datasets/__pycache__/dataset_wrappers.cpython-38.pyc 6.88KB
  189. mmdet3d/datasets/__pycache__/internal_dataset.cpython-38.pyc 16.12KB
  190. mmdet3d/datasets/__pycache__/kitti_dataset.cpython-38.pyc 21.33KB
  191. mmdet3d/datasets/__pycache__/kitti_mono_dataset.cpython-38.pyc 14.63KB
  192. mmdet3d/datasets/__pycache__/lyft_dataset.cpython-38.pyc 16.71KB
  193. mmdet3d/datasets/__pycache__/nuscenes_dataset.cpython-38.pyc 23.36KB
  194. mmdet3d/datasets/__pycache__/nuscenes_monocular_dataset.cpython-38.pyc 9.94KB
  195. mmdet3d/datasets/__pycache__/nuscenes_monocular_dataset_map_2.cpython-38.pyc 9.9KB
  196. mmdet3d/datasets/__pycache__/nuscenes_mono_dataset.cpython-38.pyc 23.4KB
  197. mmdet3d/datasets/__pycache__/s3dis_dataset.cpython-38.pyc 14.53KB
  198. mmdet3d/datasets/__pycache__/scannet_dataset.cpython-38.pyc 14.08KB
  199. mmdet3d/datasets/__pycache__/semantickitti_dataset.cpython-38.pyc 2.92KB
  200. mmdet3d/datasets/__pycache__/sunrgbd_dataset.cpython-38.pyc 8.52KB
  201. mmdet3d/datasets/__pycache__/utils.cpython-38.pyc 4.62KB
  202. mmdet3d/datasets/__pycache__/waymo_dataset.cpython-38.pyc 15.29KB
  203. mmdet3d/datasets/__pycache__/__init__.cpython-38.pyc 2.18KB
  204. mmdet3d/models/
  205. mmdet3d/models/backbones/
  206. mmdet3d/models/backbones/base_pointnet.py 1.3KB
  207. mmdet3d/models/backbones/dla.py 11.68KB
  208. mmdet3d/models/backbones/efficient.py 14.28KB
  209. mmdet3d/models/backbones/multi_backbone.py 4.6KB
  210. mmdet3d/models/backbones/nostem_regnet.py 3.27KB
  211. mmdet3d/models/backbones/pointnet2_sa_msg.py 6.97KB
  212. mmdet3d/models/backbones/pointnet2_sa_ssg.py 5.43KB
  213. mmdet3d/models/backbones/second.py 3.17KB
  214. mmdet3d/models/backbones/swin_transformer.py 23.75KB
  215. mmdet3d/models/backbones/vovnet.py 11.43KB
  216. mmdet3d/models/backbones/__init__.py 624B
  217. mmdet3d/models/backbones/__pycache__/
  218. mmdet3d/models/backbones/__pycache__/base_pointnet.cpython-38.pyc 1.58KB
  219. mmdet3d/models/backbones/__pycache__/efficient.cpython-38.pyc 10.03KB
  220. mmdet3d/models/backbones/__pycache__/efficientnet.cpython-38.pyc 10.14KB
  221. mmdet3d/models/backbones/__pycache__/multi_backbone.cpython-38.pyc 3.64KB
  222. mmdet3d/models/backbones/__pycache__/nostem_regnet.cpython-38.pyc 3.68KB
  223. mmdet3d/models/backbones/__pycache__/pointnet2_sa_msg.cpython-38.pyc 5.08KB
  224. mmdet3d/models/backbones/__pycache__/pointnet2_sa_ssg.cpython-38.pyc 4.28KB
  225. mmdet3d/models/backbones/__pycache__/second.cpython-38.pyc 2.6KB
  226. mmdet3d/models/backbones/__pycache__/swin_transformer.cpython-38.pyc 18.89KB
  227. mmdet3d/models/backbones/__pycache__/vovnet.cpython-38.pyc 8.17KB
  228. mmdet3d/models/backbones/__pycache__/__init__.cpython-38.pyc 796B
  229. mmdet3d/models/builder.py 2.87KB
  230. mmdet3d/models/decode_heads/
  231. mmdet3d/models/decode_heads/bev_decoder_head.py 10.27KB
  232. mmdet3d/models/decode_heads/bev_fcn_head.py 5.7KB
  233. mmdet3d/models/decode_heads/decode_head.py 4.27KB
  234. mmdet3d/models/decode_heads/paconv_head.py 2.18KB
  235. mmdet3d/models/decode_heads/pointnet2_head.py 2.83KB
  236. mmdet3d/models/decode_heads/__init__.py 230B
  237. mmdet3d/models/decode_heads/__pycache__/
  238. mmdet3d/models/decode_heads/__pycache__/bev_decoder_head.cpython-38.pyc 9.24KB
  239. mmdet3d/models/decode_heads/__pycache__/bev_fcn_head.cpython-38.pyc 4.26KB
  240. mmdet3d/models/decode_heads/__pycache__/decode_head.cpython-38.pyc 4.42KB
  241. mmdet3d/models/decode_heads/__pycache__/paconv_head.cpython-38.pyc 1.87KB
  242. mmdet3d/models/decode_heads/__pycache__/pointnet2_head.cpython-38.pyc 2.61KB
  243. mmdet3d/models/decode_heads/__pycache__/__init__.cpython-38.pyc 316B
  244. mmdet3d/models/dense_heads/
  245. mmdet3d/models/dense_heads/anchor3d_head.py 30.66KB
  246. mmdet3d/models/dense_heads/anchor_free_mono3d_head.py 21.01KB
  247. mmdet3d/models/dense_heads/base_conv_bbox_head.py 4.3KB
  248. mmdet3d/models/dense_heads/base_mono3d_dense_head.py 3.08KB
  249. mmdet3d/models/dense_heads/centerpoint_head.py 33.94KB
  250. mmdet3d/models/dense_heads/fcos_mono3d_head.py 41.43KB
  251. mmdet3d/models/dense_heads/free_anchor3d_head.py 11.98KB
  252. mmdet3d/models/dense_heads/groupfree3d_head.py 41.24KB
  253. mmdet3d/models/dense_heads/parta2_rpn_head.py 13.53KB
  254. mmdet3d/models/dense_heads/shape_aware_head.py 20.66KB
  255. mmdet3d/models/dense_heads/ssd_3d_head.py 24.33KB
  256. mmdet3d/models/dense_heads/train_mixins.py 16.41KB
  257. mmdet3d/models/dense_heads/vote_head.py 27.69KB
  258. mmdet3d/models/dense_heads/__init__.py 832B
  259. mmdet3d/models/dense_heads/__pycache__/
  260. mmdet3d/models/dense_heads/__pycache__/anchor_free_mono3d_head.cpython-38.pyc 16.38KB
  261. mmdet3d/models/dense_heads/__pycache__/base_conv_bbox_head.cpython-38.pyc 2.83KB
  262. mmdet3d/models/dense_heads/__pycache__/base_mono3d_dense_head.cpython-38.pyc 2.93KB
  263. mmdet3d/models/dense_heads/__pycache__/centerpoint_head.cpython-38.pyc 24.16KB
  264. mmdet3d/models/dense_heads/__pycache__/fcos_mono3d_head.cpython-38.pyc 28.96KB
  265. mmdet3d/models/dense_heads/__pycache__/free_anchor3d_head.cpython-38.pyc 7.91KB
  266. mmdet3d/models/dense_heads/__pycache__/groupfree3d_head.cpython-38.pyc 24.59KB
  267. mmdet3d/models/dense_heads/__pycache__/parta2_rpn_head.cpython-38.pyc 9.58KB
  268. mmdet3d/models/dense_heads/__pycache__/shape_aware_head.cpython-38.pyc 15.06KB
  269. mmdet3d/models/dense_heads/__pycache__/ssd_3d_head.cpython-38.pyc 15.24KB
  270. mmdet3d/models/dense_heads/__pycache__/train_mixins.cpython-38.pyc 9.41KB
  271. mmdet3d/models/dense_heads/__pycache__/vote_head.cpython-38.pyc 16.28KB
  272. mmdet3d/models/dense_heads/__pycache__/__init__.cpython-38.pyc 914B
  273. mmdet3d/models/dense_heads/__pycache__/anchor3d_head.cpython-38.pyc 19.57KB
  274. mmdet3d/models/detectors/
  275. mmdet3d/models/detectors/base.py 4.76KB
  276. mmdet3d/models/detectors/centerpoint.py 8.12KB
  277. mmdet3d/models/detectors/dynamic_voxelnet.py 2.25KB
  278. mmdet3d/models/detectors/fastbev.py 21.48KB
  279. mmdet3d/models/detectors/fastbevtrt.py 7.7KB
  280. mmdet3d/models/detectors/fcos_mono3d.py 839B
  281. mmdet3d/models/detectors/groupfree3dnet.py 3.93KB
  282. mmdet3d/models/detectors/h3dnet.py 6.62KB
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  331. mmdet3d/models/losses/
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  364. mmdet3d/models/necks/
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  367. mmdet3d/models/necks/imvoxel_neck.py 5.46KB
  368. mmdet3d/models/necks/m2bev_neck.py 3.76KB
  369. mmdet3d/models/necks/second_fpn.py 3.38KB
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  384. mmdet3d/models/roi_heads/
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  386. mmdet3d/models/roi_heads/bbox_heads/
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  388. mmdet3d/models/roi_heads/bbox_heads/parta2_bbox_head.py 24.45KB
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  404. mmdet3d/models/roi_heads/roi_extractors/
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  416. mmdet3d/models/segmentors/
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  424. mmdet3d/models/utils/
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  432. mmdet3d/models/voxel_encoders/
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  456. mmdet3d/pytorch2onnx_pointpillars.py 9.77KB
  457. mmdet3d/ops/
  458. mmdet3d/ops/ball_query/
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  460. mmdet3d/ops/ball_query/ball_query_ext.cpython-38-x86_64-linux-gnu.so 8.87MB
  461. mmdet3d/ops/ball_query/src/
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  463. mmdet3d/ops/ball_query/src/ball_query_cuda.cu 2.47KB
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  465. mmdet3d/ops/ball_query/__pycache__/
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  467. mmdet3d/ops/ball_query/__pycache__/__init__.cpython-38.pyc 182B
  468. mmdet3d/ops/furthest_point_sample/
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  470. mmdet3d/ops/furthest_point_sample/furthest_point_sample_ext.cpython-38-x86_64-linux-gnu.so 9.03MB
  471. mmdet3d/ops/furthest_point_sample/points_sampler.py 5.25KB
  472. mmdet3d/ops/furthest_point_sample/src/
  473. mmdet3d/ops/furthest_point_sample/src/furthest_point_sample.cpp 2.72KB
  474. mmdet3d/ops/furthest_point_sample/src/furthest_point_sample_cuda.cu 10.66KB
  475. mmdet3d/ops/furthest_point_sample/utils.py 1.03KB
  476. mmdet3d/ops/furthest_point_sample/__init__.py 271B
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  481. mmdet3d/ops/furthest_point_sample/__pycache__/__init__.cpython-38.pyc 319B
  482. mmdet3d/ops/gather_points/
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  484. mmdet3d/ops/gather_points/gather_points_ext.cpython-38-x86_64-linux-gnu.so 8.86MB
  485. mmdet3d/ops/gather_points/src/
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  487. mmdet3d/ops/gather_points/src/gather_points_cuda.cu 3.03KB
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  491. mmdet3d/ops/gather_points/__pycache__/__init__.cpython-38.pyc 188B
  492. mmdet3d/ops/group_points/
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  494. mmdet3d/ops/group_points/group_points_ext.cpython-38-x86_64-linux-gnu.so 8.85MB
  495. mmdet3d/ops/group_points/src/
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  497. mmdet3d/ops/group_points/src/group_points_cuda.cu 3.79KB
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  501. mmdet3d/ops/group_points/__pycache__/__init__.cpython-38.pyc 263B
  502. mmdet3d/ops/interpolate/
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  504. mmdet3d/ops/interpolate/src/
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  506. mmdet3d/ops/interpolate/src/three_interpolate_cuda.cu 3.63KB
  507. mmdet3d/ops/interpolate/src/three_nn_cuda.cu 2.45KB
  508. mmdet3d/ops/interpolate/three_interpolate.py 2.11KB
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  515. mmdet3d/ops/iou3d/
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  517. mmdet3d/ops/iou3d/iou3d_utils.py 2.32KB
  518. mmdet3d/ops/iou3d/src/
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  520. mmdet3d/ops/iou3d/src/iou3d_kernel.cu 15.02KB
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  525. mmdet3d/ops/knn/
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  528. mmdet3d/ops/knn/src/
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  530. mmdet3d/ops/knn/src/knn_cuda.cu 3.07KB
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  535. mmdet3d/ops/norm.py 4.9KB
  536. mmdet3d/ops/paconv/
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  538. mmdet3d/ops/paconv/assign_score_withk_ext.cpython-38-x86_64-linux-gnu.so 9.26MB
  539. mmdet3d/ops/paconv/paconv.py 15.5KB
  540. mmdet3d/ops/paconv/src/
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  542. mmdet3d/ops/paconv/src/assign_score_withk_cuda.cu 9.18KB
  543. mmdet3d/ops/paconv/utils.py 3.59KB
  544. mmdet3d/ops/paconv/__init__.py 142B
  545. mmdet3d/ops/paconv/__pycache__/
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  549. mmdet3d/ops/paconv/__pycache__/__init__.cpython-38.pyc 272B
  550. mmdet3d/ops/pointnet_modules/
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  552. mmdet3d/ops/pointnet_modules/paconv_sa_module.py 12.79KB
  553. mmdet3d/ops/pointnet_modules/point_fp_module.py 2.75KB
  554. mmdet3d/ops/pointnet_modules/point_sa_module.py 13KB
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  559. mmdet3d/ops/pointnet_modules/__pycache__/point_fp_module.cpython-38.pyc 2.55KB
  560. mmdet3d/ops/pointnet_modules/__pycache__/point_sa_module.cpython-38.pyc 10KB
  561. mmdet3d/ops/pointnet_modules/__pycache__/__init__.cpython-38.pyc 544B
  562. mmdet3d/ops/roiaware_pool3d/
  563. mmdet3d/ops/roiaware_pool3d/points_in_boxes.py 4.6KB
  564. mmdet3d/ops/roiaware_pool3d/roiaware_pool3d.py 3.59KB
  565. mmdet3d/ops/roiaware_pool3d/roiaware_pool3d_ext.cpython-38-x86_64-linux-gnu.so 10.42MB
  566. mmdet3d/ops/roiaware_pool3d/src/
  567. mmdet3d/ops/roiaware_pool3d/src/points_in_boxes_cpu.cpp 2.49KB
  568. mmdet3d/ops/roiaware_pool3d/src/points_in_boxes_cuda.cu 7.5KB
  569. mmdet3d/ops/roiaware_pool3d/src/roiaware_pool3d.cpp 5.77KB
  570. mmdet3d/ops/roiaware_pool3d/src/roiaware_pool3d_kernel.cu 14.69KB
  571. mmdet3d/ops/roiaware_pool3d/__init__.py 280B
  572. mmdet3d/ops/roiaware_pool3d/__pycache__/
  573. mmdet3d/ops/roiaware_pool3d/__pycache__/points_in_boxes.cpython-38.pyc 2.81KB
  574. mmdet3d/ops/roiaware_pool3d/__pycache__/roiaware_pool3d.cpython-38.pyc 3.01KB
  575. mmdet3d/ops/roiaware_pool3d/__pycache__/__init__.cpython-38.pyc 358B
  576. mmdet3d/ops/sparse_block.py 5.81KB
  577. mmdet3d/ops/spconv/
  578. mmdet3d/ops/spconv/conv.py 14.04KB
  579. mmdet3d/ops/spconv/functional.py 3.61KB
  580. mmdet3d/ops/spconv/include/
  581. mmdet3d/ops/spconv/include/paramsgrid.h 2KB
  582. mmdet3d/ops/spconv/include/prettyprint.h 15.67KB
  583. mmdet3d/ops/spconv/include/pybind11_utils.h 1.86KB
  584. mmdet3d/ops/spconv/include/spconv/
  585. mmdet3d/ops/spconv/include/spconv/fused_spconv_ops.h 5.45KB
  586. mmdet3d/ops/spconv/include/spconv/geometry.h 9.98KB
  587. mmdet3d/ops/spconv/include/spconv/indice.cu.h 8.91KB
  588. mmdet3d/ops/spconv/include/spconv/indice.h 3.68KB
  589. mmdet3d/ops/spconv/include/spconv/maxpool.h 1.39KB
  590. mmdet3d/ops/spconv/include/spconv/mp_helper.h 1.16KB
  591. mmdet3d/ops/spconv/include/spconv/point2voxel.h 14.09KB
  592. mmdet3d/ops/spconv/include/spconv/pool_ops.h 3.81KB
  593. mmdet3d/ops/spconv/include/spconv/reordering.cu.h 5.61KB
  594. mmdet3d/ops/spconv/include/spconv/reordering.h 1.34KB
  595. mmdet3d/ops/spconv/include/spconv/spconv_ops.h 26.1KB
  596. mmdet3d/ops/spconv/include/tensorview/
  597. mmdet3d/ops/spconv/include/tensorview/helper_kernel.cu.h 2.27KB
  598. mmdet3d/ops/spconv/include/tensorview/helper_launch.h 550B
  599. mmdet3d/ops/spconv/include/tensorview/tensorview.h 37.63KB
  600. mmdet3d/ops/spconv/include/torch_utils.h 2.09KB
  601. mmdet3d/ops/spconv/include/utility/
  602. mmdet3d/ops/spconv/include/utility/timer.h 1.66KB
  603. mmdet3d/ops/spconv/modules.py 6.83KB
  604. mmdet3d/ops/spconv/ops.py 7.32KB
  605. mmdet3d/ops/spconv/pool.py 3.11KB
  606. mmdet3d/ops/spconv/sparse_conv_ext.cpython-38-x86_64-linux-gnu.so 15.61MB
  607. mmdet3d/ops/spconv/src/
  608. mmdet3d/ops/spconv/src/all.cc 2.27KB
  609. mmdet3d/ops/spconv/src/indice.cc 3.69KB
  610. mmdet3d/ops/spconv/src/indice_cuda.cu 7.2KB
  611. mmdet3d/ops/spconv/src/maxpool.cc 3KB
  612. mmdet3d/ops/spconv/src/maxpool_cuda.cu 18.29KB
  613. mmdet3d/ops/spconv/src/reordering.cc 2.27KB
  614. mmdet3d/ops/spconv/src/reordering_cuda.cu 6.17KB
  615. mmdet3d/ops/spconv/structure.py 2.14KB
  616. mmdet3d/ops/spconv/test_utils.py 7.22KB
  617. mmdet3d/ops/spconv/__init__.py 1.23KB
  618. mmdet3d/ops/spconv/__pycache__/
  619. mmdet3d/ops/spconv/__pycache__/conv.cpython-38.pyc 7.74KB
  620. mmdet3d/ops/spconv/__pycache__/functional.cpython-38.pyc 2.59KB
  621. mmdet3d/ops/spconv/__pycache__/modules.cpython-38.pyc 6.1KB
  622. mmdet3d/ops/spconv/__pycache__/ops.cpython-38.pyc 883B
  623. mmdet3d/ops/spconv/__pycache__/pool.cpython-38.pyc 2.27KB
  624. mmdet3d/ops/spconv/__pycache__/structure.cpython-38.pyc 2.45KB
  625. mmdet3d/ops/spconv/__pycache__/__init__.cpython-38.pyc 706B
  626. mmdet3d/ops/voxel/
  627. mmdet3d/ops/voxel/scatter_points.py 4.2KB
  628. mmdet3d/ops/voxel/src/
  629. mmdet3d/ops/voxel/src/scatter_points_cpu.cpp 3.96KB
  630. mmdet3d/ops/voxel/src/scatter_points_cuda.cu 10.8KB
  631. mmdet3d/ops/voxel/src/voxelization.cpp 510B
  632. mmdet3d/ops/voxel/src/voxelization.h 5.54KB
  633. mmdet3d/ops/voxel/src/voxelization_cpu.cpp 5.85KB
  634. mmdet3d/ops/voxel/src/voxelization_cuda.cu 13.52KB
  635. mmdet3d/ops/voxel/voxelize.py 4.92KB
  636. mmdet3d/ops/voxel/voxel_layer.cpython-38-x86_64-linux-gnu.so 16.24MB
  637. mmdet3d/ops/voxel/__init__.py 160B
  638. mmdet3d/ops/voxel/__pycache__/
  639. mmdet3d/ops/voxel/__pycache__/scatter_points.cpython-38.pyc 2.31KB
  640. mmdet3d/ops/voxel/__pycache__/voxelize.cpython-38.pyc 263B
  641. mmdet3d/ops/voxel/__pycache__/__init__.cpython-38.pyc 230B
  642. mmdet3d/ops/__init__.py 2.18KB
  643. mmdet3d/ops/__pycache__/
  644. mmdet3d/ops/__pycache__/norm.cpython-38.pyc 4.56KB
  645. mmdet3d/ops/__pycache__/sparse_block.cpython-38.pyc 4.58KB
  646. mmdet3d/ops/__pycache__/__init__.cpython-38.pyc 1.71KB
  647. mmdet3d/utils/
  648. mmdet3d/utils/collect_env.py 603B
  649. mmdet3d/utils/logger.py 1.07KB
  650. mmdet3d/utils/__init__.py 276B
  651. mmdet3d/utils/__pycache__/
  652. mmdet3d/utils/__pycache__/collect_env.cpython-38.pyc 706B
  653. mmdet3d/utils/__pycache__/logger.cpython-38.pyc 1.27KB
  654. mmdet3d/utils/__pycache__/__init__.cpython-38.pyc 380B
  655. mmdet3d/version.py 530B
  656. mmdet3d/__init__.py 1.74KB
  657. mmdet3d/__pycache__/
  658. mmdet3d/__pycache__/version.cpython-38.pyc 511B
  659. mmdet3d/__pycache__/__init__.cpython-38.pyc 582B
  660. mmdet3d/visualization/
  661. mmdet3d/visualization/local_visualizer.py 48.98KB
  662. mmdet3d/visualization/vis_utils.py 6.13KB
  663. mmdet3d/visualization/__init__.py 485B
  664. mmdet3d/visualization/__pycache__/
  665. mmdet3d/visualization/__pycache__/local_visualizer.cpython-38.pyc 33.01KB
  666. mmdet3d/visualization/__pycache__/vis_utils.cpython-38.pyc 5.49KB
  667. mmdet3d/visualization/__pycache__/__init__.cpython-38.pyc 504B

资源介绍:

huwhfujnvdcedrferfrg
// Modified from // https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms.cpp /* 3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others) Written by Shaoshuai Shi All Rights Reserved 2019-2020. */ #include #include #include #include #include #include #define CHECK_CUDA(x) \ TORCH_CHECK(x.device().is_cuda(), #x, " must be a CUDAtensor ") #define CHECK_CONTIGUOUS(x) \ TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ") #define CHECK_INPUT(x) \ CHECK_CUDA(x); \ CHECK_CONTIGUOUS(x) #define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0)) #define CHECK_ERROR(ans) \ { gpuAssert((ans), __FILE__, __LINE__); } inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true) { if (code != cudaSuccess) { fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); if (abort) exit(code); } } const int THREADS_PER_BLOCK_NMS = sizeof(unsigned long long) * 8; void boxesoverlapLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_overlap); void boxesioubevLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_iou); void nmsLauncher(const float *boxes, unsigned long long *mask, int boxes_num, float nms_overlap_thresh); void nmsNormalLauncher(const float *boxes, unsigned long long *mask, int boxes_num, float nms_overlap_thresh); int boxes_overlap_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_overlap) { // params boxes_a: (N, 5) [x1, y1, x2, y2, ry] // params boxes_b: (M, 5) // params ans_overlap: (N, M) CHECK_INPUT(boxes_a); CHECK_INPUT(boxes_b); CHECK_INPUT(ans_overlap); int num_a = boxes_a.size(0); int num_b = boxes_b.size(0); const float *boxes_a_data = boxes_a.data_ptr(); const float *boxes_b_data = boxes_b.data_ptr(); float *ans_overlap_data = ans_overlap.data_ptr(); boxesoverlapLauncher(num_a, boxes_a_data, num_b, boxes_b_data, ans_overlap_data); return 1; } int boxes_iou_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_iou) { // params boxes_a: (N, 5) [x1, y1, x2, y2, ry] // params boxes_b: (M, 5) // params ans_overlap: (N, M) CHECK_INPUT(boxes_a); CHECK_INPUT(boxes_b); CHECK_INPUT(ans_iou); int num_a = boxes_a.size(0); int num_b = boxes_b.size(0); const float *boxes_a_data = boxes_a.data_ptr(); const float *boxes_b_data = boxes_b.data_ptr(); float *ans_iou_data = ans_iou.data_ptr(); boxesioubevLauncher(num_a, boxes_a_data, num_b, boxes_b_data, ans_iou_data); return 1; } int nms_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_thresh, int device_id) { // params boxes: (N, 5) [x1, y1, x2, y2, ry] // params keep: (N) CHECK_INPUT(boxes); CHECK_CONTIGUOUS(keep); cudaSetDevice(device_id); int boxes_num = boxes.size(0); const float *boxes_data = boxes.data_ptr(); int64_t *keep_data = keep.data_ptr(); const int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS); unsigned long long *mask_data = NULL; CHECK_ERROR(cudaMalloc((void **)&mask_data, boxes_num * col_blocks * sizeof(unsigned long long))); nmsLauncher(boxes_data, mask_data, boxes_num, nms_overlap_thresh); // unsigned long long mask_cpu[boxes_num * col_blocks]; // unsigned long long *mask_cpu = new unsigned long long [boxes_num * // col_blocks]; std::vector mask_cpu(boxes_num * col_blocks); // printf("boxes_num=%d, col_blocks=%d\n", boxes_num, col_blocks); CHECK_ERROR(cudaMemcpy(&mask_cpu[0], mask_data, boxes_num * col_blocks * sizeof(unsigned long long), cudaMemcpyDeviceToHost)); cudaFree(mask_data); unsigned long long *remv_cpu = new unsigned long long[col_blocks](); int num_to_keep = 0; for (int i = 0; i < boxes_num; i++) { int nblock = i / THREADS_PER_BLOCK_NMS; int inblock = i % THREADS_PER_BLOCK_NMS; if (!(remv_cpu[nblock] & (1ULL << inblock))) { keep_data[num_to_keep++] = i; unsigned long long *p = &mask_cpu[0] + i * col_blocks; for (int j = nblock; j < col_blocks; j++) { remv_cpu[j] |= p[j]; } } } delete[] remv_cpu; if (cudaSuccess != cudaGetLastError()) printf("Error!\n"); return num_to_keep; } int nms_normal_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_thresh, int device_id) { // params boxes: (N, 5) [x1, y1, x2, y2, ry] // params keep: (N) CHECK_INPUT(boxes); CHECK_CONTIGUOUS(keep); cudaSetDevice(device_id); int boxes_num = boxes.size(0); const float *boxes_data = boxes.data_ptr(); int64_t *keep_data = keep.data_ptr(); const int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS); unsigned long long *mask_data = NULL; CHECK_ERROR(cudaMalloc((void **)&mask_data, boxes_num * col_blocks * sizeof(unsigned long long))); nmsNormalLauncher(boxes_data, mask_data, boxes_num, nms_overlap_thresh); // unsigned long long mask_cpu[boxes_num * col_blocks]; // unsigned long long *mask_cpu = new unsigned long long [boxes_num * // col_blocks]; std::vector mask_cpu(boxes_num * col_blocks); // printf("boxes_num=%d, col_blocks=%d\n", boxes_num, col_blocks); CHECK_ERROR(cudaMemcpy(&mask_cpu[0], mask_data, boxes_num * col_blocks * sizeof(unsigned long long), cudaMemcpyDeviceToHost)); cudaFree(mask_data); unsigned long long *remv_cpu = new unsigned long long[col_blocks](); int num_to_keep = 0; for (int i = 0; i < boxes_num; i++) { int nblock = i / THREADS_PER_BLOCK_NMS; int inblock = i % THREADS_PER_BLOCK_NMS; if (!(remv_cpu[nblock] & (1ULL << inblock))) { keep_data[num_to_keep++] = i; unsigned long long *p = &mask_cpu[0] + i * col_blocks; for (int j = nblock; j < col_blocks; j++) { remv_cpu[j] |= p[j]; } } } delete[] remv_cpu; if (cudaSuccess != cudaGetLastError()) printf("Error!\n"); return num_to_keep; } PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { m.def("boxes_overlap_bev_gpu", &boxes_overlap_bev_gpu, "oriented boxes overlap"); m.def("boxes_iou_bev_gpu", &boxes_iou_bev_gpu, "oriented boxes iou"); m.def("nms_gpu", &nms_gpu, "oriented nms gpu"); m.def("nms_normal_gpu", &nms_normal_gpu, "nms gpu"); }
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