Implements the view transformer.

Depth project module used in UVTR.

BBox3DL1Cost. Args: weight (int | float, optional): loss_weight

Collect data from the loader relevant to the specific task. This is usually the last stage of the data loader pipeline. Typically keys is set

Computes one-to-one matching between predictions and ground truth. This class computes an assignment between the targets and the predictions b

Load multi channel images from a list of separate channel files. Expects results['img_filename'] to be a list of filenames. Args: to

Test-time augmentation with multiple scales and flipping. Args: transforms (list[dict]): Transforms to apply in each augmentation.

Bbox coder for NMS-free detector. Args: pc_range (list[float]): Range of point cloud. post_center_range (list[float]): Limit of th

Normalize the image. Added key is "img_norm_cfg". Args: mean (sequence): Mean values of 3 channels. std (sequence): Std values

r"""NuScenes Dataset. This class serves as the API for experiments on the NuScenes Dataset. Please refer to `NuScenes Dataset <https://www.n

Pad the multi-view image. There are two padding modes: (1) pad to a fixed size and (2) pad to the minimum size that is divisible by some numbe

Apply photometric distortion to image sequentially, every transformation is applied with a probability of 0.5. The position of random contrast is

Random scale the image

Modified Backbone network for SECOND. Args: in_channels (int): Input channels. out_channels (list[int]): Output channels for mult

Modified FPN used in SECOND. Args: in_channels (list[int]): Input channels of multi-scale feature maps. out_channels (list[int]):

r"""Sparse encoder for SECOND and Part-A2. Args: in_channels (int): The number of input channels. sparse_shape (list[int]): The s

UVTR.

Head of UVTR. Args: with_box_refine (bool): Whether to refine the reference points in the decoder. Defaults to False.

UVTRKDCS.

Head of UVTR for knowledge distillation. Args: with_box_refine (bool): Whether to refine the reference points in the decoder.

UVTRKDL.

UVTRKDM.

Implements the UVTR transformer.

Cross attention module in UVTR.

Implements the decoder in UVTR transformer.

Class for sampling data from the ground truth database. Args: info_path (str): Path of groundtruth database info. data_root (str)

Sample GT objects to the data. Args: db_sampler (dict): Config dict of the database sampler. sample_2d (bool): Whether to also pa

Flip the points & bbox. If the input dict contains the key "flip", then the flag will be used, otherwise it will be randomly decided by a rat

Apply global rotation, scaling and translation to a 3D scene. Args: rot_range (list[float]): Range of rotation angle. De