r"""Implements AdamW algorithm. Solve the bug of torch 1.8 The original Adam algorithm was proposed in `Adam: A Method for Stochastic Optimizatio

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

Attention with both self and cross Implements the decoder in DETR transformer. Args: return_intermediate (bool): Whether to r

Implements decoder layer in DETR transformer. Args: attn_cfgs (list[`mmcv.ConfigDict`] | list[dict] | dict )): Configs for

BEVFormer. Args: video_test_mode (bool): Decide whether to use temporal information during inference.

Head of Detr3D. Args: with_box_refine (bool): Whether to refine the reference points in the decoder. Defaults to False.

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

Default formatting bundle. It simplifies the pipeline of formatting common fields for voxels, including "proposals", "gt_bboxes", "gt_labels

An attention module used in Deformable-Detr. `Deformable DETR: Deformable Transformers for End-to-End Object Detection. <https://arxiv.org

Implements the decoder in DETR3D transformer. Args: return_intermediate (bool): Whether to return intermediate outputs. coder_n

Sampler that restricts data loading to a subset of the dataset. It is especially useful in conjunction with :class:`torch.nn.parallel.Distribu

# basic logic input_sequence = [a, b, c] # given a sequence of samples prev_bev = None for each in input_sequcene[:-

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

Position embedding with learnable embedding weights. Args: num_feats (int): The feature dimension for each position along

Load multi channel images from a list of separate channel files. Expects results['img_filename'] to be a list of filenames. note that we r

An attention module used in BEVFormer based on Deformable-Detr. `Deformable DETR: Deformable Transformers for End-to-End Object Detection. <

Base `TransformerLayer` for vision transformer. It can be built from `mmcv.ConfigDict` and support more flexible customization, for example,

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 datset only add camera intrinsics and extrinsics to the results.

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

Implements the Detr3D transformer. Args: as_two_stage (bool): Generate query from encoder features. Default: False.

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 Args: scales

An attention module used in BEVFormer. Args: embed_dims (int): The embedding dimension of Attention. Default: 256.

An attention module used in BEVFormer based on Deformable-Detr. `Deformable DETR: Deformable Transformers for End-to-End Object Detection.

Implements the Detr3D transformer. Args: as_two_stage (bool): Generate query from encoder features. Default: False.