[Feature] Group-Free-3D head #539
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| Arguments: | ||
| seed_features: (batch_size, feature_dim, num_seed) Pytorch tensor | ||
| Returns: | ||
| logits: (batch_size, 1, num_seed) |
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| def forward(self, xyz, features, sample_inds): | ||
| """ | ||
| Args: |
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modify the docstrings and also others
| return new_xyz, new_features, sample_inds | ||
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| class PositionEmbeddingLearned(nn.Module): |
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should we put positional embedding into the registry like those in mmdet/mmcv?
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I'm afraid the specific positional embedding module is not so general that other algorithm would use it.
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Put it into the registry as it is general enough and may be used in other transformer-based 3d detector.
| Tensor: (B, C, M) the sampled features. | ||
| Tensor: (B, M) the given index. | ||
| """ | ||
| xyz_flipped = xyz.transpose(1, 2).contiguous() |
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use permute(0, 2, 1) to replace transpose().contiguous()
| # (num_candidate, ) with values in 0,1,...,gt_num-1 | ||
| assignment = query_points_instance_label | ||
| # set background points to the last gt bbox as original code | ||
| assignment[assignment < 0] = gt_num - 1 |
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this is a little bit weird and might cause a bug
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Codecov Report
@@ Coverage Diff @@
## master #539 +/- ##
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- Coverage 51.02% 50.19% -0.84%
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Files 204 208 +4
Lines 15395 15909 +514
Branches 2492 2555 +63
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+ Hits 7856 7986 +130
- Misses 7021 7402 +381
- Partials 518 521 +3
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Need to resolve conflicts @hjin2902 |
Group-Free-3D head
* Transformer decoder/GroupFree3DMultiheadAttention
* GroupFree3DBBoxCoder
* loss
* get boxes
* test case/config