-
Notifications
You must be signed in to change notification settings - Fork 1.5k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
31 changed files
with
731 additions
and
258 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
80 changes: 80 additions & 0 deletions
80
configs/cylinder3d/cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,80 @@ | ||
_base_ = [ | ||
'../_base_/datasets/semantickitti.py', '../_base_/models/cylinder3d.py', | ||
'../_base_/schedules/schedule-3x.py', '../_base_/default_runtime.py' | ||
] | ||
|
||
train_pipeline = [ | ||
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping'), | ||
dict( | ||
type='RandomChoice', | ||
transforms=[ | ||
[ | ||
dict( | ||
type='LaserMix', | ||
num_areas=[3, 4, 5, 6], | ||
pitch_angles=[-25, 3], | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
[ | ||
dict( | ||
type='PolarMix', | ||
instance_classes=[0, 1, 2, 3, 4, 5, 6, 7], | ||
swap_ratio=0.5, | ||
rotate_paste_ratio=1.0, | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
], | ||
prob=[0.5, 0.5]), | ||
dict( | ||
type='GlobalRotScaleTrans', | ||
rot_range=[0., 6.28318531], | ||
scale_ratio_range=[0.95, 1.05], | ||
translation_std=[0, 0, 0], | ||
), | ||
dict(type='Pack3DDetInputs', keys=['points', 'pts_semantic_mask']) | ||
] | ||
|
||
train_dataloader = dict(dataset=dict(pipeline=train_pipeline)) | ||
|
||
default_hooks = dict(checkpoint=dict(type='CheckpointHook', interval=1)) |
File renamed without changes.
File renamed without changes.
File renamed without changes.
7 changes: 7 additions & 0 deletions
7
configs/minkunet/minkunet34_w32_minkowski_8xb2-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,7 @@ | ||
_base_ = [ | ||
'./minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py' | ||
] | ||
|
||
model = dict( | ||
data_preprocessor=dict(batch_first=True), | ||
backbone=dict(sparseconv_backend='minkowski')) |
9 changes: 9 additions & 0 deletions
9
configs/minkunet/minkunet34_w32_spconv_8xb2-amp-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,9 @@ | ||
_base_ = [ | ||
'./minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py' | ||
] | ||
|
||
model = dict( | ||
data_preprocessor=dict(batch_first=True), | ||
backbone=dict(sparseconv_backend='spconv')) | ||
|
||
optim_wrapper = dict(type='AmpOptimWrapper', loss_scale='dynamic') |
7 changes: 7 additions & 0 deletions
7
configs/minkunet/minkunet34_w32_spconv_8xb2-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,7 @@ | ||
_base_ = [ | ||
'./minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py' | ||
] | ||
|
||
model = dict( | ||
data_preprocessor=dict(batch_first=True), | ||
backbone=dict(sparseconv_backend='spconv')) |
5 changes: 5 additions & 0 deletions
5
configs/minkunet/minkunet34_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,5 @@ | ||
_base_ = [ | ||
'./minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py' | ||
] | ||
|
||
optim_wrapper = dict(type='AmpOptimWrapper', loss_scale='dynamic') |
84 changes: 84 additions & 0 deletions
84
configs/minkunet/minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,84 @@ | ||
_base_ = [ | ||
'../_base_/datasets/semantickitti.py', '../_base_/models/minkunet.py', | ||
'../_base_/schedules/schedule-3x.py', '../_base_/default_runtime.py' | ||
] | ||
|
||
model = dict( | ||
data_preprocessor=dict(max_voxels=None), | ||
backbone=dict(encoder_blocks=[2, 3, 4, 6])) | ||
|
||
train_pipeline = [ | ||
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping'), | ||
dict( | ||
type='RandomChoice', | ||
transforms=[ | ||
[ | ||
dict( | ||
type='LaserMix', | ||
num_areas=[3, 4, 5, 6], | ||
pitch_angles=[-25, 3], | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
[ | ||
dict( | ||
type='PolarMix', | ||
instance_classes=[0, 1, 2, 3, 4, 5, 6, 7], | ||
swap_ratio=0.5, | ||
rotate_paste_ratio=1.0, | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
], | ||
prob=[0.5, 0.5]), | ||
dict( | ||
type='GlobalRotScaleTrans', | ||
rot_range=[0., 6.28318531], | ||
scale_ratio_range=[0.95, 1.05], | ||
translation_std=[0, 0, 0], | ||
), | ||
dict(type='Pack3DDetInputs', keys=['points', 'pts_semantic_mask']) | ||
] | ||
|
||
train_dataloader = dict(dataset=dict(pipeline=train_pipeline)) | ||
|
||
default_hooks = dict(checkpoint=dict(type='CheckpointHook', interval=1)) |
10 changes: 10 additions & 0 deletions
10
configs/minkunet/minkunet34v2_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,10 @@ | ||
_base_ = [ | ||
'./minkunet34_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py' | ||
] | ||
|
||
model = dict( | ||
backbone=dict(type='MinkUNetBackboneV2'), | ||
decode_head=dict(channels=256 + 128 + 96)) | ||
|
||
randomness = dict(seed=None, deterministic=False, diff_rank_seed=True) | ||
env_cfg = dict(cudnn_benchmark=True) |
File renamed without changes.
File renamed without changes.
File renamed without changes.
86 changes: 86 additions & 0 deletions
86
configs/spvcnn/spvcnn_w32_8xb2-amp-laser-polar-mix-3x_semantickitti.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,86 @@ | ||
_base_ = [ | ||
'../_base_/datasets/semantickitti.py', '../_base_/models/spvcnn.py', | ||
'../_base_/schedules/schedule-3x.py', '../_base_/default_runtime.py' | ||
] | ||
|
||
model = dict(data_preprocessor=dict(max_voxels=None)) | ||
|
||
train_pipeline = [ | ||
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping'), | ||
dict( | ||
type='RandomChoice', | ||
transforms=[ | ||
[ | ||
dict( | ||
type='LaserMix', | ||
num_areas=[3, 4, 5, 6], | ||
pitch_angles=[-25, 3], | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
[ | ||
dict( | ||
type='PolarMix', | ||
instance_classes=[0, 1, 2, 3, 4, 5, 6, 7], | ||
swap_ratio=0.5, | ||
rotate_paste_ratio=1.0, | ||
pre_transform=[ | ||
dict( | ||
type='LoadPointsFromFile', | ||
coord_type='LIDAR', | ||
load_dim=4, | ||
use_dim=4), | ||
dict( | ||
type='LoadAnnotations3D', | ||
with_bbox_3d=False, | ||
with_label_3d=False, | ||
with_seg_3d=True, | ||
seg_3d_dtype='np.int32', | ||
seg_offset=2**16, | ||
dataset_type='semantickitti'), | ||
dict(type='PointSegClassMapping') | ||
], | ||
prob=1) | ||
], | ||
], | ||
prob=[0.5, 0.5]), | ||
dict( | ||
type='GlobalRotScaleTrans', | ||
rot_range=[0., 6.28318531], | ||
scale_ratio_range=[0.95, 1.05], | ||
translation_std=[0, 0, 0], | ||
), | ||
dict(type='Pack3DDetInputs', keys=['points', 'pts_semantic_mask']) | ||
] | ||
|
||
train_dataloader = dict(dataset=dict(pipeline=train_pipeline)) | ||
|
||
optim_wrapper = dict(type='AmpOptimWrapper', loss_scale='dynamic') | ||
|
||
default_hooks = dict(checkpoint=dict(type='CheckpointHook', interval=1)) | ||
randomness = dict(seed=0, deterministic=False, diff_rank_seed=True) | ||
env_cfg = dict(cudnn_benchmark=True) |
Oops, something went wrong.