[Refactor] Main code modification for coordinate system refactor (#677)

configs/_base_/models/fcos3d.py

@@ -29,6 +29,7 @@
  pred_attrs=True,
  pred_velo=True,
  dir_offset=0.7854, # pi/4
+ dir_limit_offset=0,
  strides=[8, 16, 32, 64, 128],
  group_reg_dims=(2, 1, 3, 1, 2), # offset, depth, size, rot, velo
  cls_branch=(256, ),

configs/_base_/models/hv_pointpillars_fpn_nus.py

@@ -49,8 +49,8 @@
  ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
  scales=[1, 2, 4],
  sizes=[
- [0.8660, 2.5981, 1.], # 1.5/sqrt(3)
- [0.5774, 1.7321, 1.], # 1/sqrt(3)
+ [2.5981, 0.8660, 1.], # 1.5 / sqrt(3)
+ [1.7321, 0.5774, 1.], # 1 / sqrt(3)
  [1., 1., 1.],
  [0.4, 0.4, 1],
  ],
@@ -59,8 +59,7 @@
  reshape_out=True),
  assigner_per_size=False,
  diff_rad_by_sin=True,
- dir_offset=0.7854, # pi/4
- dir_limit_offset=0,
+ dir_offset=-0.7854, # -pi / 4
  bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
  loss_cls=dict(
  type='FocalLoss',

configs/_base_/models/hv_pointpillars_secfpn_kitti.py

@@ -41,7 +41,7 @@
  [0, -39.68, -0.6, 70.4, 39.68, -0.6],
  [0, -39.68, -1.78, 70.4, 39.68, -1.78],
  ],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/_base_/models/hv_pointpillars_secfpn_waymo.py

@@ -48,15 +48,14 @@
  [-74.88, -74.88, -0.1188, 74.88, 74.88, -0.1188],
  [-74.88, -74.88, 0, 74.88, 74.88, 0]],
  sizes=[
- [2.08, 4.73, 1.77], # car
- [0.84, 1.81, 1.77], # cyclist
- [0.84, 0.91, 1.74] # pedestrian
+ [4.73, 2.08, 1.77], # car
+ [1.81, 0.84, 1.77], # cyclist
+ [0.91, 0.84, 1.74] # pedestrian
  ],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,
- dir_offset=0.7854, # pi/4
- dir_limit_offset=0,
+ dir_offset=-0.7854, # -pi / 4
  bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=7),
  loss_cls=dict(
  type='FocalLoss',

configs/_base_/models/hv_second_secfpn_kitti.py

@@ -37,7 +37,7 @@
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78],
  ],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/_base_/models/hv_second_secfpn_waymo.py

@@ -42,15 +42,14 @@
  [-76.8, -51.2, 0, 76.8, 51.2, 0],
  [-76.8, -51.2, -0.1188, 76.8, 51.2, -0.1188]],
  sizes=[
- [2.08, 4.73, 1.77], # car
- [0.84, 0.91, 1.74], # pedestrian
- [0.84, 1.81, 1.77] # cyclist
+ [4.73, 2.08, 1.77], # car
+ [0.91, 0.84, 1.74], # pedestrian
+ [1.81, 0.84, 1.77] # cyclist
  ],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,
- dir_offset=0.7854, # pi/4
- dir_limit_offset=0,
+ dir_offset=-0.7854, # -pi / 4
  bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=7),
  loss_cls=dict(
  type='FocalLoss',

configs/_base_/models/parta2.py

@@ -38,7 +38,7 @@
  ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78]],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/benchmark/hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py

@@ -38,7 +38,7 @@
  ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78]],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py

@@ -37,7 +37,7 @@
  anchor_generator=dict(
  type='Anchor3DRangeGenerator',
  ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
- sizes=[[1.6, 3.9, 1.56]],
+ sizes=[[3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=True),
  diff_rad_by_sin=True,

configs/benchmark/hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py

@@ -48,7 +48,7 @@
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78],
  ],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/benchmark/hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py

@@ -39,7 +39,7 @@
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78],
  ],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  diff_rad_by_sin=True,

configs/free_anchor/README.md

@@ -49,8 +49,8 @@ model = dict(
  ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
  scales=[1, 2, 4],
  sizes=[
- [0.8660, 2.5981, 1.], # 1.5/sqrt(3)
- [0.5774, 1.7321, 1.], # 1/sqrt(3)
+ [2.5981, 0.8660, 1.], # 1.5 / sqrt(3)
+ [1.7321, 0.5774, 1.], # 1 / sqrt(3)
  [1., 1., 1.],
  [0.4, 0.4, 1],
  ],
@@ -59,8 +59,7 @@ model = dict(
  reshape_out=True),
  assigner_per_size=False,
  diff_rad_by_sin=True,
- dir_offset=0.7854, # pi/4
- dir_limit_offset=0,
+ dir_offset=-0.7854, # -pi / 4
  bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
  loss_cls=dict(
  type='FocalLoss',

configs/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py

@@ -21,8 +21,8 @@
  ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
  scales=[1, 2, 4],
  sizes=[
- [0.8660, 2.5981, 1.], # 1.5/sqrt(3)
- [0.5774, 1.7321, 1.], # 1/sqrt(3)
+ [2.5981, 0.8660, 1.], # 1.5 / sqrt(3)
+ [1.7321, 0.5774, 1.], # 1 / sqrt(3)
  [1., 1., 1.],
  [0.4, 0.4, 1],
  ],
@@ -31,8 +31,7 @@
  reshape_out=True),
  assigner_per_size=False,
  diff_rad_by_sin=True,
- dir_offset=0.7854, # pi/4
- dir_limit_offset=0,
+ dir_offset=-0.7854, # -pi / 4
  bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
  loss_cls=dict(
  type='FocalLoss',

configs/imvoxelnet/imvoxelnet_4x8_kitti-3d-car.py

@@ -25,7 +25,7 @@
  anchor_generator=dict(
  type='AlignedAnchor3DRangeGenerator',
  ranges=[[-0.16, -39.68, -1.78, 68.96, 39.68, -1.78]],
- sizes=[[1.6, 3.9, 1.56]],
+ sizes=[[3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=True),
  diff_rad_by_sin=True,

configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py

@@ -74,7 +74,7 @@
  [0, -40.0, -0.6, 70.4, 40.0, -0.6],
  [0, -40.0, -1.78, 70.4, 40.0, -1.78],
  ],
- sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+ sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False),
  assigner_per_size=True,

configs/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py

@@ -10,7 +10,7 @@
  _delete_=True,
  type='Anchor3DRangeGenerator',
  ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
- sizes=[[1.6, 3.9, 1.56]],
+ sizes=[[3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=False)),
  roi_head=dict(

configs/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py

@@ -10,7 +10,7 @@
  _delete_=True,
  type='Anchor3DRangeGenerator',
  ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
- sizes=[[1.6, 3.9, 1.56]],
+ sizes=[[3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=True)),
  # model training and testing settings

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py

@@ -29,15 +29,15 @@
  [-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
+ [4.75, 1.92, 1.71], # car
+ [10.24, 2.84, 3.44], # truck
+ [12.70, 2.92, 3.42], # bus
+ [6.52, 2.42, 2.34], # emergency vehicle
+ [8.17, 2.75, 3.20], # other vehicle
+ [2.35, 0.96, 1.59], # motorcycle
+ [1.76, 0.63, 1.44], # bicycle
+ [0.80, 0.76, 1.76], # pedestrian
+ [0.73, 0.35, 0.50] # animal
  ],
  rotations=[0, 1.57],
  reshape_out=True)))

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py

@@ -29,13 +29,13 @@
  [-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965],
  ],
  sizes=[
- [1.95017717, 4.60718145, 1.72270761], # car
- [2.4560939, 6.73778078, 2.73004906], # truck
- [2.87427237, 12.01320693, 3.81509561], # trailer
- [0.60058911, 1.68452161, 1.27192197], # bicycle
- [0.66344886, 0.7256437, 1.75748069], # pedestrian
- [0.39694519, 0.40359262, 1.06232151], # traffic_cone
- [2.49008838, 0.48578221, 0.98297065], # barrier
+ [4.60718145, 1.95017717, 1.72270761], # car
+ [6.73778078, 2.4560939, 2.73004906], # truck
+ [12.01320693, 2.87427237, 3.81509561], # trailer
+ [1.68452161, 0.60058911, 1.27192197], # bicycle
+ [0.7256437, 0.66344886, 1.75748069], # pedestrian
+ [0.40359262, 0.39694519, 1.06232151], # traffic_cone
+ [0.48578221, 2.49008838, 0.98297065], # barrier
  ],
  custom_values=[0, 0],
  rotations=[0, 1.57],

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py

@@ -28,15 +28,15 @@
  [-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
+ [4.75, 1.92, 1.71], # car
+ [10.24, 2.84, 3.44], # truck
+ [12.70, 2.92, 3.42], # bus
+ [6.52, 2.42, 2.34], # emergency vehicle
+ [8.17, 2.75, 3.20], # other vehicle
+ [2.35, 0.96, 1.59], # motorcycle
+ [1.76, 0.63, 1.44], # bicycle
+ [0.80, 0.76, 1.76], # pedestrian
+ [0.73, 0.35, 0.50] # animal
  ],
  rotations=[0, 1.57],
  reshape_out=True)))

configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py

@@ -17,7 +17,7 @@
  anchor_generator=dict(
  type='AlignedAnchor3DRangeGenerator',
  ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
- sizes=[[2.08, 4.73, 1.77]],
+ sizes=[[4.73, 2.08, 1.77]],
  rotations=[0, 1.57],
  reshape_out=True)),
  # model training and testing settings

configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py

@@ -14,7 +14,7 @@
  anchor_generator=dict(
  type='AlignedAnchor3DRangeGenerator',
  ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
- sizes=[[2.08, 4.73, 1.77]],
+ sizes=[[4.73, 2.08, 1.77]],
  rotations=[0, 1.57],
  reshape_out=True)),
  # model training and testing settings

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py

@@ -25,15 +25,15 @@
  [-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
+ [4.75, 1.92, 1.71], # car
+ [10.24, 2.84, 3.44], # truck
+ [12.70, 2.92, 3.42], # bus
+ [6.52, 2.42, 2.34], # emergency vehicle
+ [8.17, 2.75, 3.20], # other vehicle
+ [2.35, 0.96, 1.59], # motorcycle
+ [1.76, 0.63, 1.44], # bicycle
+ [0.80, 0.76, 1.76], # pedestrian
+ [0.73, 0.35, 0.50] # animal
  ],
  rotations=[0, 1.57],
  reshape_out=True)))

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

@@ -25,13 +25,13 @@
  [-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965],
  ],
  sizes=[
- [1.95017717, 4.60718145, 1.72270761], # car
- [2.4560939, 6.73778078, 2.73004906], # truck
- [2.87427237, 12.01320693, 3.81509561], # trailer
- [0.60058911, 1.68452161, 1.27192197], # bicycle
- [0.66344886, 0.7256437, 1.75748069], # pedestrian
- [0.39694519, 0.40359262, 1.06232151], # traffic_cone
- [2.49008838, 0.48578221, 0.98297065], # barrier
+ [4.60718145, 1.95017717, 1.72270761], # car
+ [6.73778078, 2.4560939, 2.73004906], # truck
+ [12.01320693, 2.87427237, 3.81509561], # trailer
+ [1.68452161, 0.60058911, 1.27192197], # bicycle
+ [0.7256437, 0.66344886, 1.75748069], # pedestrian
+ [0.40359262, 0.39694519, 1.06232151], # traffic_cone
+ [0.48578221, 2.49008838, 0.98297065], # barrier
  ],
  custom_values=[0, 0],
  rotations=[0, 1.57],

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

@@ -26,15 +26,15 @@
  [-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
+ [4.75, 1.92, 1.71], # car
+ [10.24, 2.84, 3.44], # truck
+ [12.70, 2.92, 3.42], # bus
+ [6.52, 2.42, 2.34], # emergency vehicle
+ [8.17, 2.75, 3.20], # other vehicle
+ [2.35, 0.96, 1.59], # motorcycle
+ [1.76, 0.63, 1.44], # bicycle
+ [0.80, 0.76, 1.76], # pedestrian
+ [0.73, 0.35, 0.50] # animal
  ],
  rotations=[0, 1.57],
  reshape_out=True)))

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

@@ -12,7 +12,7 @@
  _delete_=True,
  type='Anchor3DRangeGenerator',
  ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
- sizes=[[1.6, 3.9, 1.56]],
+ sizes=[[3.9, 1.6, 1.56]],
  rotations=[0, 1.57],
  reshape_out=True)),
  # model training and testing settings

configs/second/hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py

@@ -21,7 +21,10 @@
  classes=class_names,
  sample_groups=dict(Car=15, Pedestrian=10, Cyclist=10),
  points_loader=dict(
- type='LoadPointsFromFile', load_dim=5, use_dim=[0, 1, 2, 3, 4]))
+ type='LoadPointsFromFile',
+ coord_type='LIDAR',
+ load_dim=5,
+ use_dim=[0, 1, 2, 3, 4]))
 
 train_pipeline = [
  dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5),