Initialize weights of the DeformDETR head.

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

Loss function for outputs from a single decoder layer of a single feature level. Args: cls_scores (Tensor): Box score logi

Loss function for outputs from a single decoder layer of a single feature level. Args: cls_scores (Tensor): Box score logi

Convert keys in checkpoints for VoteNet. There can be some breaking changes during the development of mmdetection3d, and this tool is used fo

Parse config from strings. Args: config_strings (string): strings of model config. Returns: Config: model config

Random sampling. Sampling point cloud to a certain number of points. Args: points (ndarray): Point cloud. num_points (int):

Prepare the info file for s3dis dataset. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info filen

Parse and save the calibration data. Args: frame (:obj:`Frame`): Open dataset frame proto. file_idx (int): Current fi

Parse and save the images in png format. Args: frame (:obj:`Frame`): Open dataset frame proto. file_idx (int): Curren

Parse and save the label data in txt format. The relation between waymo and kitti coordinates is noteworthy: 1. x, y, z correspond to

Parse and save the lidar data in psd format. Args: frame (:obj:`Frame`): Open dataset frame proto. file_idx (int): Cu

Parse and save the pose data. Note that SDC's own pose is not included in the regular training of KITTI dataset. KITTI raw dataset co

Prepare the info file for scannet dataset. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info fil

Visualize 3D point cloud and 3D bboxes.

Visualize 3D bboxes on 2D image by projection.

Visualize 3D point cloud and segmentation mask.

Test function without augmentaiton.

Test function of point cloud branch.

Prepare the info file for sunrgbd dataset. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info fil

Convert points and bboxes to Depth Coord and Depth Box mode.

Prepare the info file for waymo dataset. Args: root_path (str): Path of dataset root. info_prefix (str): The prefix of info filen

Args: bbox_pred (Tensor): Predicted boxes with normalized coordinates (cx, cy, w, h), which are all in range [0,

Call function to pad images, masks, semantic segmentation maps. Args: results (dict): Result dict from loading pipeline. R

Call function to normalize images. Args: results (dict): Result dict from loading pipeline. Returns: dict: Nor

Call function to perform photometric distortion on images. Args: results (dict): Result dict from loading pipeline. Return

Call function to pad images, masks, semantic segmentation maps. Args: results (dict): Result dict from loading pipeline. R

Call function to pad images, masks, semantic segmentation maps. Args: results (dict): Result dict from loading pipeline. R

Length of the filename list.

Compute regression and classification targets for one image. Outputs from a single decoder layer of a single feature level are used. A

Compute regression and classification targets for one image. Outputs from a single decoder layer of a single feature level are used. A