Implements decoder layer in DETR transformer. Args: attn_cfgs (list[`mmcv.ConfigDict`] | list[dict] | dict )): Configs for self_attention or cross_attention, the order should be consistent with it in `operation_order`. If it is a dict, it would be
| 241 | attn_cfgs (list[`mmcv.ConfigDict`] | list[dict] | dict )): |
| 242 | Configs for self_attention or cross_attention, the order |
| 243 | should be consistent with it in `operation_order`. If it is |
| 244 | a dict, it would be expand to the number of attention in |
| 245 | `operation_order`. |
| 246 | feedforward_channels (int): The hidden dimension for FFNs. |
| 247 | ffn_dropout (float): Probability of an element to be zeroed |
| 248 | in ffn. Default 0.0. |
| 249 | operation_order (tuple[str]): The execution order of operation |
| 250 | in transformer. Such as ('self_attn', 'norm', 'ffn', 'norm'). |
| 251 | Default：None |
| 252 | act_cfg (dict): The activation config for FFNs. Default: `LN` |
| 253 | norm_cfg (dict): Config dict for normalization layer. |
| 254 | Default: `LN`. |
| 255 | ffn_num_fcs (int): The number of fully-connected layers in FFNs. |
| 256 | Default：2. |
| 257 | """ |
| 258 | |
| 259 | def __init__(self, |
| 260 | attn_cfgs, |
| 261 | feedforward_channels, |
| 262 | ffn_dropout=0.0, |
| 263 | operation_order=None, |
| 264 | act_cfg=dict(type='ReLU', inplace=True), |
| 265 | norm_cfg=dict(type='LN'), |
| 266 | ffn_num_fcs=2, |
| 267 | **kwargs): |
| 268 | super(BEVFormerLayer, self).__init__( |
| 269 | attn_cfgs=attn_cfgs, |
| 270 | feedforward_channels=feedforward_channels, |
| 271 | ffn_dropout=ffn_dropout, |
| 272 | operation_order=operation_order, |
| 273 | act_cfg=act_cfg, |
| 274 | norm_cfg=norm_cfg, |
| 275 | ffn_num_fcs=ffn_num_fcs, |
| 276 | **kwargs) |
| 277 | self.fp16_enabled = False |
| 278 | assert len(operation_order) == 6 |
| 279 | assert set(operation_order) == set( |
| 280 | ['self_attn', 'norm', 'cross_attn', 'ffn']) |
| 281 | |
| 282 | def forward(self, |
| 283 | query, |
| 284 | key=None, |
| 285 | value=None, |
| 286 | bev_pos=None, |
| 287 | query_pos=None, |
| 288 | key_pos=None, |
| 289 | attn_masks=None, |
| 290 | query_key_padding_mask=None, |
| 291 | key_padding_mask=None, |
| 292 | ref_2d=None, |
| 293 | ref_3d=None, |
| 294 | bev_h=None, |
| 295 | bev_w=None, |
| 296 | reference_points_cam=None, |
| 297 | mask=None, |
| 298 | spatial_shapes=None, |
| 299 | level_start_index=None, |
| 300 | prev_bev=None, |
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