Extract features from images.

Extract features from images.

Extract features from images.

Applies filtering to boxes. basedon overlap . :param nusc: An instance of the NuScenes class. :param eval_boxes: An instance of the EvalB

Format the results to json (standard format for COCO evaluation). Args: results (list[tuple | numpy.ndarray]): Testing results of

Forward function for `FFN`. The function would add x to the output tensor if residue is None.

Forward for head part which is called after every decoder layer. Args: decoder_out (Tensor): in shape (num_queries, batch_size, c

Test segment without test-time aumengtation. Only the output of last decoder layers was used. Args: inputs (list[Tensor]

During inference, the functionary of batch norm layers is turned off but only the mean and var alone channels are used, which exposes the chance t

Generate proposals from encoded memory. Args: memory (Tensor) : The output of encoder, has shape (bs, num_key, em

Get the 2D annotation records for a given info. Args: info: Information of the given sample data. occluded: Integer (0, 1, 2, 3)

r""" Retuens lane centerline annotations of the current frame. Returns ------- list [{'id': int, 'points'

r""" Retuens the adjacent matrix of topology_lclc. Returns ------- list [#lane_centerline, #lane_centerli

r""" Retuens the adjacent matrix of topology_lcte. Returns ------- list [#lane_centerline, #traffic_eleme

Get available scenes from the input nuscenes class. Given the raw data, get the information of available scenes for further info generation.

obtain bev features.

Get data info according to the given index. Args: index (int): Index of the sample data to get. Returns: dic

Return dataset and sample index when given an indice of ConcatDataset. Args: indice (int): indice of sample in ConcatData

r""" Retuens the image path given a camera. Parameters ---------- camera : str Returns -------

r""" Retuens the intrinsic given a camera. Parameters ---------- camera : str Returns -------

r""" Retuens the pose of ego vehicle. Returns ------- dict {'rotation': [3, 3], 'translation': [3, ]}.

Get the reference points used in decoder. Args: spatial_shapes (Tensor): The shape of all feature maps, has shape

Get the reference points used in SCA and TSA. Args: H, W: spatial shape of bev. Z: hight of pillar. D: sam

Get the reference points used in SCA and TSA. Args: H, W: spatial shape of bev. Z: hight of pillar. D: sam

Get the valid radios of feature maps of all level.

Default initialization for Parameters of Module.

Initialize function loads the model in MMDetection3D. Args: context (context): It is a JSON Object containing information

Interpolate a line at fixed interval. Args: vector (LineString): vector sample_dist (float): sample interval

Inverse function of sigmoid. Args: x (Tensor): The tensor to do the inverse. eps (float): EPS avoid numerical

r""" Parameters ---------- path : str Returns ------- dict

Prepare data related to Lyft dataset. Related data consists of '.pkl' files recording basic infos. Although the ground truth database and 2D

Obtain the info with RT matric from general sensor to Top LiDAR. Args: nusc (class): Dataset class in the nuScenes dataset. senso

Obtain the info with RT matric from general sensor to Top LiDAR. Args: nusc (class): Dataset class in the nuScenes dataset. senso

Prepare occ data related to nuScenes dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth dat

Args: XXX Outs: XXX

Get the intersection of the convex hull of the reprojected bbox corners and the image canvas, return None if no intersection. Args: c

Convert vertices from its original range ([-1,1]) to discrete values in [0, n_bits**2 - 1]. Args: verts (array): vertices coordinates, sh

Randomly sample an img_scale when ``multiscale_mode=='range'``. Args: img_scales (list[tuple]): Images scale range for sampling.

Plot vectorized map elements on BEV. Args: vectors (dict): dict of vectorized map elements. out_dir (str): output dir

Project vectorized map elements to camera views. Args: vectors (dict): dict of vectorized map elements. imgs (tensor)