Functions — github.com/ZhangYushan3/GMSF

Method__getitem__

(self, i)

dataloader/kitti.py:143

Method__getitem__

(self, i)

dataloader/waymo.py:52

Method__init__

(self, input_dir, output_dir, split, n_points, max_depth, remove_occluded_points)

utils/preprocess_flyingthings3d_subset.py:58

Method__init__

(self, lr_scheduler, summary_writer, summary_freq=100, s

utils/logger.py:13

Method__init__

(self, load_dir, save_dir, prefix, workers

waymo_tools/waymo_converter.py:33

Method__init__

(self, split='train', occ=True)

dataloader/flyingthings3d.py:11

Method__init__

(self, root='datasets/FlyingThings3D_flownet3d/', npoints=8192, train=True)

dataloader/flyingthings3d.py:83

Method__init__

(self, data_root)

dataloader/waymo_sf_dataset.py:18

Method__init__

(self, transform=None, train=False, num_points=8192,

dataloader/kitti.py:19

Method__init__

(self, split='training40', root='datasets/KITTI_stereo2015')

dataloader/kitti.py:121

Method__init__

(self, data_process_args, num_points, allow_less_points)

dataloader/transforms.py:24

Method__init__

(self, split='train', root='datasets/waymo-open/train_extract')

dataloader/waymo.py:13

Method__init__

Crop ground by searching a plane that best matches the segmentation label. Since the segmentation label exists in the interval frame, the plan

dataloader/waymo_utils/crop_ground.py:5

Method__init__

(self, backbone=None, feature_channels=128, ffn_dim_expansi

models/gmsf.py:10

Method__init__

(self, in_channels, **kwargs, )

models/matching.py:54

Method__init__

(self, d_model=128, ffn_dim_expansion=4, )

models/transformer.py:75

Method__init__

(self, num_layers=10, d_model=128, ffn_dim_expansion=4,

models/transformer.py:111

Method__init__

(self, d_points, d_model, k)

models/transformer.py:201

Method__init__

(self, num_layers=1, d_points=16, ffn_dim_expansion=4,

models/transformer.py:243

Method__init__

(self, output_channels=128)

models/backbone.py:47

Method__init__

(self, output_channels=128, k=32)

models/backbone.py:71

Method__len__

(self)

utils/preprocess_flyingthings3d_subset.py:73

Method__len__

Length of the filename list.

waymo_tools/waymo_converter.py:124

Method__len__

(self)

dataloader/flyingthings3d.py:29

Method__len__

(self)

dataloader/flyingthings3d.py:156

Method__len__

(self)

dataloader/kitti.py:140

Method__len__

(self)

dataloader/waymo.py:49

Method__repr__

(self)

dataloader/kitti.py:65

Method__repr__

(self)

dataloader/transforms.py:82

Methodadd_image_summary

(self, img1, img2, flow_preds, flow_gt, mode='train', )

utils/logger.py:38

Functionbox2d_to_corner_jit

Convert box2d to corner. Args: boxes (np.ndarray, shape=[N, 5]): Boxes2d with rotation. Returns: box_corners (np.ndarray, sh

dataloader/waymo_utils/box_np_ops.py:256

Functionbox3d_to_bbox

Convert box3d in camera coordinates to bbox in image coordinates. Args: box3d (np.ndarray, shape=[N, 7]): Boxes in camera coordinate.

dataloader/waymo_utils/box_np_ops.py:401

Functionbox_camera_to_lidar

Covert boxes in camera coordinate to lidar coordinate. Args: data (np.ndarray, shape=[N, 7]): Boxes in camera coordinate. r_rect

dataloader/waymo_utils/box_np_ops.py:46

Functionboxes3d_to_corners3d_lidar

Convert kitti center boxes to corners. 7 -------- 4 /| /| 6 -------- 5 . | | | | . 3 -------- 0

dataloader/waymo_utils/box_np_ops.py:848

Functioncorner_to_standup_nd_jit

Convert boxes_corner to aligned (min-max) boxes. Args: boxes_corner (np.ndarray, shape=[N, 2**dim, dim]): Boxes corners. Returns:

dataloader/waymo_utils/box_np_ops.py:287

Functioncreate_anchors_3d_range

Create anchors 3d by range. Args: feature_size (list[float] | tuple[float]): Feature map size. It is either a list of a tuple

dataloader/waymo_utils/box_np_ops.py:497

Functiondepth_to_lidar_points

Convert depth map to points in lidar coordinate. Args: depth (np.array, shape=[H, W]): Depth map which the row of [0~`trunc_p

dataloader/waymo_utils/box_np_ops.py:168

Methodforward

(self, pc0, pc1, **kwargs, )

models/gmsf.py:53

Methodforward

(self, feature0, flow, **kwargs, )

models/matching.py:66

Methodforward

(self, source, target, height=None, width=None, )

models/transformer.py:48

Methodforward

(self, source, target, height=None, width=None, )

models/transformer.py:90

Methodforward

(self, feature0, feature1, **kwargs, )

models/transformer.py:130

Methodforward

(self, xyz, features)

models/transformer.py:220

Methodforward

(self, xyz0, xyz1, feature0, feature1, **kwargs, )

models/transformer.py:264

Methodforward

(self, x)

models/backbone.py:61

Methodforward

(self, x)

models/backbone.py:98

Methodforward

(self, x)

models/backbone.py:130

Methodgen_crop_pointer_dict

(self, frame_num_list, scene_id_list)

dataloader/waymo_utils/crop_ground.py:215

Functionget_T_box_to_lidar

Get 4*4 transform matrx for box to lidar coordinate. Args: data (np.ndarray, shape=[N, 7]): Boxes in lidar coordinate. Returns:

dataloader/waymo_utils/box_np_ops.py:7

Functionglobal_selfcorrelation_softmax_3d

(feature0, flow )

models/matching.py:31

Functionint_list

Convert string to int list

utils/misc.py:40

Functioniou_jit

Calculate box iou. Note that jit version runs ~10x faster than the box_overlaps function in mmdet3d.core.evaluation. Args: boxes (np.

dataloader/waymo_utils/box_np_ops.py:586

Functionkitti_anno_to_label_file

(annos, folder)

dataloader/waymo_utils/waymo_utils.py:263

Functionmap_func

(idx)

dataloader/waymo_utils/waymo_utils.py:161

Methodmap_func

(idx)

dataloader/waymo_sf_dataset.py:184

Functionminmax_to_corner_2d

Convert minmax box to corners2d. Args: minmax_box (np.ndarray, shape=[N, dims]): minmax boxes. Returns: np.ndarray: 2d corne

dataloader/waymo_utils/box_np_ops.py:466

Functionpoints_in_convex_polygon_jit

Check points is in 2d convex polygons. True when point in polygon. Args: points (np.ndarray): Input points with the shape of [num_points,

dataloader/waymo_utils/box_np_ops.py:803

Functionpoints_in_rbbox

Check points in rotated bbox and return indicces. Args: points (np.ndarray, shape=[N, 3+dim]): Points to query. rbbox (np.ndarray

dataloader/waymo_utils/box_np_ops.py:443

Functionprocess_one_frame

(idx)

utils/process_kitti.py:20

Functionrbbox2d_to_near_bbox

convert rotated bbox to nearest 'standing' or 'lying' bbox. Args: rbboxes (np.ndarray): Rotated bboxes with shape of \ (N, 5(

dataloader/waymo_utils/box_np_ops.py:566

FunctionreadFlowKITTI

(filename)

utils/frame_utils.py:9

Functionread_gen

(file_name, pil=False)

utils/frame_utils.py:123

Functionread_text_lines

(filepath)

utils/misc.py:7

Functionremove_outside_points

Remove points which are outside of image. Args: points (np.ndarray, shape=[N, 3+dims]): Total points. rect (np.ndarray, shape=[4,

dataloader/waymo_utils/box_np_ops.py:650

Functionrotation_points_single_angle

Rotate points with a single angle. Args: points (np.ndarray, shape=[N, 3]]): angle (np.ndarray, shape=[1]]): axis (int, o

dataloader/waymo_utils/box_np_ops.py:331

Functionsave_args

(args, filename='args.json')

utils/misc.py:29

Functionsave_command

(save_path, filename='command_train.txt')

utils/misc.py:19

FunctionwriteFlow

Write optical flow to file. If v is None, uv is assumed to contain both u and v channels, stacked in depth. Original code by Deqing

utils/frame_utils.py:76

FunctionwriteFlowKITTI

(filename, uv)

utils/frame_utils.py:116

Methodwrite_dict

(self, results)

utils/logger.py:68

Functions170 in github.com/ZhangYushan3/GMSF