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

Training data preparation. Args: index (int): Index for accessing the target data. Returns: dict: Tra

Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part first, as ten

Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part first, as ten

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

Render sample data onto axis. :param sample_data_token: Sample_data token. :param with_anns: Whether to draw box annotations. :pa

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 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

Test function

Smooth L1 loss. Args: pred (torch.Tensor): The prediction. target (torch.Tensor): The learning target of the prediction. b

Performs a single optimization step. Args: closure (callable, optional): A closure that reevaluates the model and

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

Create sinusoidal timestep embeddings. :param timesteps: a 1-D Tensor of N indices, one per batch element. These may b

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

Use this transform to transform a set of 3D points. Assumes row major ordering of the input points. Args: points

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,

Args: bboxes (Tensor): Predicted boxes with unnormalized coordinates (x1, y1, x2, y2). Shape [num_query, 4].

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 collect keys in results. The keys in ``meta_keys`` will be converted to :obj:`mmcv.DataContainer`. Args:

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

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

Call function to transform and format common fields in results. Args: results (dict): Result dict contains the data to convert.

Add 'pred_attribute', 'pred_speed' to Instances in 'pred_instances'.

Get item from infos according to the given index. Returns: dict: Data dictionary of the corresponding index.

Get item from infos according to the given index. Returns: dict: Data dictionary of the corresponding index.

Access the individual image in its original size. Args: idx: int or slice Returns: Tensor: an image

Args: index: Specifying the index of the transform to retrieve. Can be an int, slice, list of ints, boolean, long