[Refactor] Main code modification for coordinate system refactor

.gitignore

@@ -131,3 +131,4 @@ data/sunrgbd/OFFICIAL_SUNRGBD/
 
 # Waymo evaluation
 mmdet3d/core/evaluation/waymo_utils/compute_detection_metrics_main
+pointpillars_nuscenes_results/

configs/_base_/models/hv_pointpillars_fpn_nus.py

@@ -49,8 +49,8 @@
             ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
             scales=[1, 2, 4],
             sizes=[
-                [0.8660, 2.5981, 1.],  # 1.5/sqrt(3)
-                [0.5774, 1.7321, 1.],  # 1/sqrt(3)
+                [2.5981, 0.8660, 1.],  # 1.5 / sqrt(3)
+                [1.7321, 0.5774, 1.],  # 1 / sqrt(3)
                 [1., 1., 1.],
                 [0.4, 0.4, 1],
             ],
@@ -59,8 +59,7 @@
             reshape_out=True),
         assigner_per_size=False,
         diff_rad_by_sin=True,
-        dir_offset=0.7854,  # pi/4
-        dir_limit_offset=0,
+        dir_offset=-0.7854,  # -pi / 4
         bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
         loss_cls=dict(
             type='FocalLoss',

configs/_base_/models/hv_pointpillars_secfpn_kitti.py

@@ -41,7 +41,7 @@
                 [0, -39.68, -0.6, 70.4, 39.68, -0.6],
                 [0, -39.68, -1.78, 70.4, 39.68, -1.78],
             ],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/_base_/models/hv_pointpillars_secfpn_waymo.py

@@ -48,15 +48,14 @@
                     [-74.88, -74.88, -0.1188, 74.88, 74.88, -0.1188],
                     [-74.88, -74.88, 0, 74.88, 74.88, 0]],
             sizes=[
-                [2.08, 4.73, 1.77],  # car
-                [0.84, 1.81, 1.77],  # cyclist
-                [0.84, 0.91, 1.74]  # pedestrian
+                [4.73, 2.08, 1.77],  # car
+                [1.81, 0.84, 1.77],  # cyclist
+                [0.91, 0.84, 1.74]  # pedestrian
             ],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,
-        dir_offset=0.7854,  # pi/4
-        dir_limit_offset=0,
+        dir_offset=-0.7854,  # -pi / 4
         bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=7),
         loss_cls=dict(
             type='FocalLoss',

configs/_base_/models/hv_second_secfpn_kitti.py

@@ -37,7 +37,7 @@
                 [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                 [0, -40.0, -1.78, 70.4, 40.0, -1.78],
             ],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/_base_/models/hv_second_secfpn_waymo.py

@@ -42,15 +42,14 @@
                     [-76.8, -51.2, 0, 76.8, 51.2, 0],
                     [-76.8, -51.2, -0.1188, 76.8, 51.2, -0.1188]],
             sizes=[
-                [2.08, 4.73, 1.77],  # car
-                [0.84, 0.91, 1.74],  # pedestrian
-                [0.84, 1.81, 1.77]  # cyclist
+                [4.73, 2.08, 1.77],  # car
+                [0.91, 0.84, 1.74],  # pedestrian
+                [1.81, 0.84, 1.77]  # cyclist
             ],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,
-        dir_offset=0.7854,  # pi/4
-        dir_limit_offset=0,
+        dir_offset=-0.7854,  # -pi / 4
         bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=7),
         loss_cls=dict(
             type='FocalLoss',

configs/_base_/models/parta2.py

@@ -38,7 +38,7 @@
             ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],
                     [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                     [0, -40.0, -1.78, 70.4, 40.0, -1.78]],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/benchmark/hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py

@@ -38,7 +38,7 @@
             ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],
                     [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                     [0, -40.0, -1.78, 70.4, 40.0, -1.78]],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py

@@ -37,7 +37,7 @@
         anchor_generator=dict(
             type='Anchor3DRangeGenerator',
             ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
-            sizes=[[1.6, 3.9, 1.56]],
+            sizes=[[3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=True),
         diff_rad_by_sin=True,

configs/benchmark/hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py

@@ -48,7 +48,7 @@
                 [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                 [0, -40.0, -1.78, 70.4, 40.0, -1.78],
             ],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/benchmark/hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py

@@ -39,7 +39,7 @@
                 [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                 [0, -40.0, -1.78, 70.4, 40.0, -1.78],
             ],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         diff_rad_by_sin=True,

configs/free_anchor/README.md

@@ -49,8 +49,8 @@ model = dict(
             ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
             scales=[1, 2, 4],
             sizes=[
-                [0.8660, 2.5981, 1.],  # 1.5/sqrt(3)
-                [0.5774, 1.7321, 1.],  # 1/sqrt(3)
+                [2.5981, 0.8660, 1.],  # 1.5 / sqrt(3)
+                [1.7321, 0.5774, 1.],  # 1 / sqrt(3)
                 [1., 1., 1.],
                 [0.4, 0.4, 1],
             ],
@@ -59,8 +59,7 @@ model = dict(
             reshape_out=True),
         assigner_per_size=False,
         diff_rad_by_sin=True,
-        dir_offset=0.7854,  # pi/4
-        dir_limit_offset=0,
+        dir_offset=-0.7854,  # -pi / 4
         bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
         loss_cls=dict(
             type='FocalLoss',

configs/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py

@@ -21,8 +21,8 @@
             ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
             scales=[1, 2, 4],
             sizes=[
-                [0.8660, 2.5981, 1.],  # 1.5/sqrt(3)
-                [0.5774, 1.7321, 1.],  # 1/sqrt(3)
+                [2.5981, 0.8660, 1.],  # 1.5 / sqrt(3)
+                [1.7321, 0.5774, 1.],  # 1 / sqrt(3)
                 [1., 1., 1.],
                 [0.4, 0.4, 1],
             ],
@@ -31,8 +31,7 @@
             reshape_out=True),
         assigner_per_size=False,
         diff_rad_by_sin=True,
-        dir_offset=0.7854,  # pi/4
-        dir_limit_offset=0,
+        dir_offset=-0.7854,  # -pi / 4
         bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
         loss_cls=dict(
             type='FocalLoss',

configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py

@@ -74,7 +74,7 @@
                 [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                 [0, -40.0, -1.78, 70.4, 40.0, -1.78],
             ],
-            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
+            sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False),
         assigner_per_size=True,

configs/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py

@@ -10,7 +10,7 @@
             _delete_=True,
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
-            sizes=[[1.6, 3.9, 1.56]],
+            sizes=[[3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=False)),
     roi_head=dict(

configs/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py

@@ -10,7 +10,7 @@
             _delete_=True,
             type='Anchor3DRangeGenerator',
             ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]],
-            sizes=[[1.6, 3.9, 1.56]],
+            sizes=[[3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=True)),
     # model training and testing settings

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py

@@ -29,15 +29,15 @@
                     [-80, -80, -0.9122268, 80, 80, -0.9122268],
                     [-80, -80, -1.8012227, 80, 80, -1.8012227]],
             sizes=[
-                [1.92, 4.75, 1.71],  # car
-                [2.84, 10.24, 3.44],  # truck
-                [2.92, 12.70, 3.42],  # bus
-                [2.42, 6.52, 2.34],  # emergency vehicle
-                [2.75, 8.17, 3.20],  # other vehicle
-                [0.96, 2.35, 1.59],  # motorcycle
-                [0.63, 1.76, 1.44],  # bicycle
-                [0.76, 0.80, 1.76],  # pedestrian
-                [0.35, 0.73, 0.50]  # animal
+                [4.75, 1.92, 1.71],  # car
+                [10.24, 2.84, 3.44],  # truck
+                [12.70, 2.92, 3.42],  # bus
+                [6.52, 2.42, 2.34],  # emergency vehicle
+                [8.17, 2.75, 3.20],  # other vehicle
+                [2.35, 0.96, 1.59],  # motorcycle
+                [1.76, 0.63, 1.44],  # bicycle
+                [0.80, 0.76, 1.76],  # pedestrian
+                [0.73, 0.35, 0.50]  # animal
             ],
             rotations=[0, 1.57],
             reshape_out=True)))

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py

@@ -29,13 +29,13 @@
                 [-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965],
             ],
             sizes=[
-                [1.95017717, 4.60718145, 1.72270761],  # car
-                [2.4560939, 6.73778078, 2.73004906],  # truck
-                [2.87427237, 12.01320693, 3.81509561],  # trailer
-                [0.60058911, 1.68452161, 1.27192197],  # bicycle
-                [0.66344886, 0.7256437, 1.75748069],  # pedestrian
-                [0.39694519, 0.40359262, 1.06232151],  # traffic_cone
-                [2.49008838, 0.48578221, 0.98297065],  # barrier
+                [4.60718145, 1.95017717, 1.72270761],  # car
+                [6.73778078, 2.4560939, 2.73004906],  # truck
+                [12.01320693, 2.87427237, 3.81509561],  # trailer
+                [1.68452161, 0.60058911, 1.27192197],  # bicycle
+                [0.7256437, 0.66344886, 1.75748069],  # pedestrian
+                [0.40359262, 0.39694519, 1.06232151],  # traffic_cone
+                [0.48578221, 2.49008838, 0.98297065],  # barrier
             ],
             custom_values=[0, 0],
             rotations=[0, 1.57],

configs/pointpillars/hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py

@@ -28,15 +28,15 @@
                     [-100, -100, -0.9122268, 100, 100, -0.9122268],
                     [-100, -100, -1.8012227, 100, 100, -1.8012227]],
             sizes=[
-                [1.92, 4.75, 1.71],  # car
-                [2.84, 10.24, 3.44],  # truck
-                [2.92, 12.70, 3.42],  # bus
-                [2.42, 6.52, 2.34],  # emergency vehicle
-                [2.75, 8.17, 3.20],  # other vehicle
-                [0.96, 2.35, 1.59],  # motorcycle
-                [0.63, 1.76, 1.44],  # bicycle
-                [0.76, 0.80, 1.76],  # pedestrian
-                [0.35, 0.73, 0.50]  # animal
+                [4.75, 1.92, 1.71],  # car
+                [10.24, 2.84, 3.44],  # truck
+                [12.70, 2.92, 3.42],  # bus
+                [6.52, 2.42, 2.34],  # emergency vehicle
+                [8.17, 2.75, 3.20],  # other vehicle
+                [2.35, 0.96, 1.59],  # motorcycle
+                [1.76, 0.63, 1.44],  # bicycle
+                [0.80, 0.76, 1.76],  # pedestrian
+                [0.73, 0.35, 0.50]  # animal
             ],
             rotations=[0, 1.57],
             reshape_out=True)))

configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py

@@ -17,7 +17,7 @@
         anchor_generator=dict(
             type='AlignedAnchor3DRangeGenerator',
             ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
-            sizes=[[2.08, 4.73, 1.77]],
+            sizes=[[4.73, 2.08, 1.77]],
             rotations=[0, 1.57],
             reshape_out=True)),
     # model training and testing settings

configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py

@@ -14,7 +14,7 @@
         anchor_generator=dict(
             type='AlignedAnchor3DRangeGenerator',
             ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
-            sizes=[[2.08, 4.73, 1.77]],
+            sizes=[[4.73, 2.08, 1.77]],
             rotations=[0, 1.57],
             reshape_out=True)),
     # model training and testing settings

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py

@@ -25,15 +25,15 @@
                     [-80, -80, -0.9122268, 80, 80, -0.9122268],
                     [-80, -80, -1.8012227, 80, 80, -1.8012227]],
             sizes=[
-                [1.92, 4.75, 1.71],  # car
-                [2.84, 10.24, 3.44],  # truck
-                [2.92, 12.70, 3.42],  # bus
-                [2.42, 6.52, 2.34],  # emergency vehicle
-                [2.75, 8.17, 3.20],  # other vehicle
-                [0.96, 2.35, 1.59],  # motorcycle
-                [0.63, 1.76, 1.44],  # bicycle
-                [0.76, 0.80, 1.76],  # pedestrian
-                [0.35, 0.73, 0.50]  # animal
+                [4.75, 1.92, 1.71],  # car
+                [10.24, 2.84, 3.44],  # truck
+                [12.70, 2.92, 3.42],  # bus
+                [6.52, 2.42, 2.34],  # emergency vehicle
+                [8.17, 2.75, 3.20],  # other vehicle
+                [2.35, 0.96, 1.59],  # motorcycle
+                [1.76, 0.63, 1.44],  # bicycle
+                [0.80, 0.76, 1.76],  # pedestrian
+                [0.73, 0.35, 0.50]  # animal
             ],
             rotations=[0, 1.57],
             reshape_out=True)))

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py

@@ -25,13 +25,13 @@
                 [-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965],
             ],
             sizes=[
-                [1.95017717, 4.60718145, 1.72270761],  # car
-                [2.4560939, 6.73778078, 2.73004906],  # truck
-                [2.87427237, 12.01320693, 3.81509561],  # trailer
-                [0.60058911, 1.68452161, 1.27192197],  # bicycle
-                [0.66344886, 0.7256437, 1.75748069],  # pedestrian
-                [0.39694519, 0.40359262, 1.06232151],  # traffic_cone
-                [2.49008838, 0.48578221, 0.98297065],  # barrier
+                [4.60718145, 1.95017717, 1.72270761],  # car
+                [6.73778078, 2.4560939, 2.73004906],  # truck
+                [12.01320693, 2.87427237, 3.81509561],  # trailer
+                [1.68452161, 0.60058911, 1.27192197],  # bicycle
+                [0.7256437, 0.66344886, 1.75748069],  # pedestrian
+                [0.40359262, 0.39694519, 1.06232151],  # traffic_cone
+                [0.48578221, 2.49008838, 0.98297065],  # barrier
             ],
             custom_values=[0, 0],
             rotations=[0, 1.57],

configs/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py

@@ -26,15 +26,15 @@
                     [-100, -100, -0.9122268, 100, 100, -0.9122268],
                     [-100, -100, -1.8012227, 100, 100, -1.8012227]],
             sizes=[
-                [1.92, 4.75, 1.71],  # car
-                [2.84, 10.24, 3.44],  # truck
-                [2.92, 12.70, 3.42],  # bus
-                [2.42, 6.52, 2.34],  # emergency vehicle
-                [2.75, 8.17, 3.20],  # other vehicle
-                [0.96, 2.35, 1.59],  # motorcycle
-                [0.63, 1.76, 1.44],  # bicycle
-                [0.76, 0.80, 1.76],  # pedestrian
-                [0.35, 0.73, 0.50]  # animal
+                [4.75, 1.92, 1.71],  # car
+                [10.24, 2.84, 3.44],  # truck
+                [12.70, 2.92, 3.42],  # bus
+                [6.52, 2.42, 2.34],  # emergency vehicle
+                [8.17, 2.75, 3.20],  # other vehicle
+                [2.35, 0.96, 1.59],  # motorcycle
+                [1.76, 0.63, 1.44],  # bicycle
+                [0.80, 0.76, 1.76],  # pedestrian
+                [0.73, 0.35, 0.50]  # animal
             ],
             rotations=[0, 1.57],
             reshape_out=True)))

configs/second/hv_second_secfpn_6x8_80e_kitti-3d-car.py

@@ -12,7 +12,7 @@
             _delete_=True,
             type='Anchor3DRangeGenerator',
             ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
-            sizes=[[1.6, 3.9, 1.56]],
+            sizes=[[3.9, 1.6, 1.56]],
             rotations=[0, 1.57],
             reshape_out=True)),
     # model training and testing settings

configs/second/hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py

@@ -21,7 +21,10 @@
     classes=class_names,
     sample_groups=dict(Car=15, Pedestrian=10, Cyclist=10),
     points_loader=dict(
-        type='LoadPointsFromFile', load_dim=5, use_dim=[0, 1, 2, 3, 4]))
+        type='LoadPointsFromFile',
+        coord_type='LIDAR',
+        load_dim=5,
+        use_dim=[0, 1, 2, 3, 4]))
 
 train_pipeline = [
     dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5),