Merge branch 'dev-1.x' into inferencer_lidar_seg

mmdet3d/datasets/transforms/formating.py

@@ -147,10 +147,13 @@ def pack_single_results(self, results: dict) -> dict:
  if 'img' in results:
  if isinstance(results['img'], list):
  # process multiple imgs in single frame
- imgs = [to_tensor(img) for img in results['img']]
- imgs = torch.stack(
- imgs, dim=0).permute(0, 3, 1, 2).contiguous()
- results['img'] = to_tensor(imgs)
+ imgs = np.stack(results['img'], axis=0)
+ if imgs.flags.c_contiguous:
+ imgs = to_tensor(imgs).permute(0, 3, 1, 2).contiguous()
+ else:
+ imgs = to_tensor(
+ np.ascontiguousarray(imgs.transpose(0, 3, 1, 2)))
+ results['img'] = imgs
  else:
  img = results['img']
  if len(img.shape) < 3:
@@ -159,7 +162,12 @@ def pack_single_results(self, results: dict) -> dict:
  # `torch.permute()` rather than `np.transpose()`.
  # Refer to https://github.com/open-mmlab/mmdetection/pull/9533
  # for more details
- results['img'] = to_tensor(img).permute(2, 0, 1).contiguous()
+ if img.flags.c_contiguous:
+ img = to_tensor(img).permute(2, 0, 1).contiguous()
+ else:
+ img = to_tensor(
+ np.ascontiguousarray(img.transpose(2, 0, 1)))
+ results['img'] = img
 
  for key in [
  'proposals', 'gt_bboxes', 'gt_bboxes_ignore', 'gt_labels',

mmdet3d/datasets/transforms/transforms_3d.py

@@ -2592,14 +2592,14 @@ def laser_mix_transform(self, input_dict: dict, mix_results: dict) -> dict:
 
  rho = torch.sqrt(points.coord[:, 0]**2 + points.coord[:, 1]**2)
  pitch = torch.atan2(points.coord[:, 2], rho)
- pitch = torch.clip(pitch, self.pitch_angles[0] + 1e-5,
- self.pitch_angles[1] - 1e-5)
+ pitch = torch.clamp(pitch, self.pitch_angles[0] + 1e-5,
+  self.pitch_angles[1] - 1e-5)
 
  mix_rho = torch.sqrt(mix_points.coord[:, 0]**2 +
  mix_points.coord[:, 1]**2)
  mix_pitch = torch.atan2(mix_points.coord[:, 2], mix_rho)
- mix_pitch = torch.clip(mix_pitch, self.pitch_angles[0] + 1e-5,
- self.pitch_angles[1] - 1e-5)
+ mix_pitch = torch.clamp(mix_pitch, self.pitch_angles[0] + 1e-5,
+  self.pitch_angles[1] - 1e-5)
 
  num_areas = np.random.choice(self.num_areas, size=1)[0]
  angle_list = np.linspace(self.pitch_angles[1], self.pitch_angles[0],

mmdet3d/registry.py

@@ -34,15 +34,22 @@
 
 # manage all kinds of runners like `EpochBasedRunner` and `IterBasedRunner`
 RUNNERS = Registry(
- 'runner', parent=MMENGINE_RUNNERS, locations=['mmdet3d.engine.runner'])
+ # TODO: update the location when mmdet3d has its own runner
+ 'runner',
+ parent=MMENGINE_RUNNERS,
+ locations=['mmdet3d.engine'])
 # manage runner constructors that define how to initialize runners
 RUNNER_CONSTRUCTORS = Registry(
  'runner constructor',
  parent=MMENGINE_RUNNER_CONSTRUCTORS,
- locations=['mmdet3d.engine.runner'])
+ # TODO: update the location when mmdet3d has its own runner
+ locations=['mmdet3d.engine'])
 # manage all kinds of loops like `EpochBasedTrainLoop`
 LOOPS = Registry(
- 'loop', parent=MMENGINE_LOOPS, locations=['mmdet3d.engine.runner'])
+ # TODO: update the location when mmdet3d has its own loop
+ 'loop',
+ parent=MMENGINE_LOOPS,
+ locations=['mmdet3d.engine'])
 # manage all kinds of hooks like `CheckpointHook`
 HOOKS = Registry(
  'hook', parent=MMENGINE_HOOKS, locations=['mmdet3d.engine.hooks'])
@@ -53,7 +60,8 @@
 DATA_SAMPLERS = Registry(
  'data sampler',
  parent=MMENGINE_DATA_SAMPLERS,
- locations=['mmdet3d.datasets.samplers'])
+ # TODO: update the location when mmdet3d has its own data sampler
+ locations=['mmdet3d.datasets'])
 TRANSFORMS = Registry(
  'transform',
  parent=MMENGINE_TRANSFORMS,
@@ -77,22 +85,26 @@
 OPTIMIZERS = Registry(
  'optimizer',
  parent=MMENGINE_OPTIMIZERS,
- locations=['mmdet3d.engine.optimizers'])
+ # TODO: update the location when mmdet3d has its own optimizer
+ locations=['mmdet3d.engine'])
 # manage optimizer wrapper
 OPTIM_WRAPPERS = Registry(
  'optim wrapper',
  parent=MMENGINE_OPTIM_WRAPPERS,
- locations=['mmdet3d.engine.optimizers'])
+ # TODO: update the location when mmdet3d has its own optimizer
+ locations=['mmdet3d.engine'])
 # manage constructors that customize the optimization hyperparameters.
 OPTIM_WRAPPER_CONSTRUCTORS = Registry(
  'optimizer wrapper constructor',
  parent=MMENGINE_OPTIM_WRAPPER_CONSTRUCTORS,
- locations=['mmdet3d.engine.optimizers'])
+ # TODO: update the location when mmdet3d has its own optimizer
+ locations=['mmdet3d.engine'])
 # mangage all kinds of parameter schedulers like `MultiStepLR`
 PARAM_SCHEDULERS = Registry(
  'parameter scheduler',
  parent=MMENGINE_PARAM_SCHEDULERS,
- locations=['mmdet3d.engine.schedulers'])
+ # TODO: update the location when mmdet3d has its own scheduler
+ locations=['mmdet3d.engine'])
 # manage all kinds of metrics
 METRICS = Registry(
  'metric', parent=MMENGINE_METRICS, locations=['mmdet3d.evaluation'])