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lit/extern/spconv/include/tensorview/prettyprint.h | C/C++ Header | // Copyright Louis Delacroix 2010 - 2014.
// Distributed under the Boost Software License, Version 1.0.
// (See accompanying file LICENSE_1_0.txt or copy at
// http://www.boost.org/LICENSE_1_0.txt)
//
// A pretty printing library for C++
//
// Usage:
// Include this header, and operator<< will "jus... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tensorview/pybind_utils.h | C/C++ Header | // Copyright 2019-2020 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tensorview/tensor.h | C/C++ Header | // Copyright 2019-2020 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tensorview/tensorview.h | C/C++ Header | // Copyright 2019-2020 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tensorview/tools.h | C/C++ Header | // Copyright 2019-2020 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tensorview/torch_utils.h | C/C++ Header | // Copyright 2019-2020 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/torch_utils.h | C/C++ Header | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tsl/robin_growth_policy.h | C/C++ Header | /**
* MIT License
*
* Copyright (c) 2017 Tessil
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tsl/robin_hash.h | C/C++ Header | /**
* MIT License
*
* Copyright (c) 2017 Tessil
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/tsl/robin_map.h | C/C++ Header | /**
* MIT License
*
* Copyright (c) 2017 Tessil
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/include/utility/timer.h | C/C++ Header | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/setup.py | Python | import os
import platform
import re
import subprocess
import sys
from distutils.version import LooseVersion
from pathlib import Path
import torch
from setuptools import Extension, find_packages, setup
from setuptools.command.build_ext import build_ext
# if 'LIBTORCH_ROOT' not in os.environ:
# raise ValueError("Yo... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/__init__.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/conv.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/functional.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/identity.py | Python | # Copyright 2016-present, Facebook, Inc.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
from torch.nn import Module
class Identity(Module):
def forward(self, input):
return input
def input_spatial_size(... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/modules.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/ops.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/pool.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/tables.py | Python | import torch
from torch.autograd import Function
import spconv
#from torch.nn import Module
from spconv.modules import SparseModule
class JoinTable(SparseModule): # Module):
def forward(self, input):
output = spconv.SparseConvTensor(
torch.cat([i.features for i in input], 1), input[1].indice... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/test_utils.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/spconv/utils/__init__.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/debugging.cpp | C++ | // -------------------------------------------------------------
// cuDPP -- CUDA Data Parallel Primitives library
// -------------------------------------------------------------
// $Revision:$
// $Date:$
// -------------------------------------------------------------
// This source code is distributed under the term... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/debugging.cu | CUDA | // -------------------------------------------------------------
// cuDPP -- CUDA Data Parallel Primitives library
// -------------------------------------------------------------
// $Revision:$
// $Date:$
// -------------------------------------------------------------
// This source code is distributed under the term... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/hash_functions.cpp | C++ | // nvcc (cuda) 9.0 with gcc 5.5 don't support random, so compile it in host
#include <random>
namespace cuhash {
std::random_device random_dev;
std::mt19937 random_engine(random_dev());
std::uniform_int_distribution<unsigned> uint_distribution;
unsigned generate_random_uint32() { return uint_distribution(random_en... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/hash_functions.cu | CUDA | #include <cassert>
#include <cuhash/debugging.h>
#include <cuhash/hash_functions.h>
#include <cuhash/hash_table.h>
namespace cuhash {
void GenerateFunctions(const unsigned N, const unsigned num_keys,
const unsigned *d_keys, const unsigned table_size,
uint2 *constants) {
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/hash_table.cpp | C++ | // -------------------------------------------------------------
// cuDPP -- CUDA Data Parallel Primitives library
// -------------------------------------------------------------
// $Revision:$
// $Date:$
// -------------------------------------------------------------
// This source code is distributed under the term... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/hash_table.cu | CUDA | // -------------------------------------------------------------
// cuDPP -- CUDA Data Parallel Primitives library
// -------------------------------------------------------------
// $Revision:$
// $Date:$
// -------------------------------------------------------------
// This source code is distributed under the term... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/cuhash/main.cc | C++ | #include <cuda.h>
#include <cuhash/hash_table.h>
int main() {
auto table = cuhash::HashTable();
table.Initialize(10, 2.0);
const int N = 10;
// ハッシュテーブルに格納するデータ
int keys[N] = {1, 6, 4, 9, 0, 3, 7, 2, 5, 8};
int vals[N] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
// デバイスメモリにコピー
int *d_keys, *d_vals;
cudaMallo... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/all.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/cublas_gemm.cc | C++ | #include <ATen/ATen.h>
#include <spconv/cublas_gemm.h>
namespace spconv {
template <>
cublasStatus_t cublasTgemm(cublasHandle_t handle, cublasOperation_t transa,
cublasOperation_t transb, int m, int n, int k,
const float *alpha, const float *A, int lda,
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/indice.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/indice.cu | CUDA | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/maxpool.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/maxpool.cu | CUDA | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/nms.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/nms.cu | CUDA | // ------------------------------------------------------------------
// Deformable Convolutional Networks
// Copyright (c) 2015 Microsoft
// Licensed under The MIT License
// Modified from MATLAB Faster R-CNN
// (https://github.com/shaoqingren/faster_rcnn)
// -----------------------------------------------------------... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/pillar_scatter.cu | CUDA | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/pool_ops.cc | C++ | #include <spconv/pool_ops.h>
namespace spconv {
torch::Tensor indiceMaxPool(torch::Tensor features, torch::Tensor indicePairs,
torch::Tensor indiceNum, int64_t numAct) {
auto device = features.device().type();
auto kernelVolume = indiceNum.size(0);
auto numInPlanes = features.size(1);... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/reordering.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/reordering.cu | CUDA | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/spconv/spconv_ops.cc | C++ | #include <spconv/spconv_ops.h>
namespace spconv {
std::vector<torch::Tensor>
getIndicePairs(torch::Tensor indices, int64_t batchSize,
std::vector<int64_t> outSpatialShape,
std::vector<int64_t> spatialShape,
std::vector<int64_t> kernelSize, std::vector<int64_t> stride,
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/utils/all.cc | C++ | // Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/src/utils/nms.cu | CUDA | // ------------------------------------------------------------------
// Deformable Convolutional Networks
// Copyright (c) 2015 Microsoft
// Licensed under The MIT License
// Modified from MATLAB Faster R-CNN
// (https://github.com/shaoqingren/faster_rcnn)
// -----------------------------------------------------------... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/test/fake_dist_train.py | Python | import time
from pathlib import Path
import fire
import numpy as np
import torch
import torch.nn.functional as F
import tqdm
from torch import distributed, nn
from torch.utils import data
from torch.utils.data import DataLoader, Dataset
from torchvision import datasets, transforms
import horovod.torch as hvd
import s... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/test/fake_train.py | Python | import time
from pathlib import Path
import fire
import numpy as np
import torch
import torch.nn.functional as F
import tqdm
from torch import distributed, nn
from torch.utils import data
from torch.utils.data import DataLoader, Dataset
from torchvision import datasets, transforms
import spconv
from spconv.test_utils... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/test/src/catch_main.cpp | C++ | // 000-CatchMain.cpp
// In a Catch project with multiple files, dedicate one file to compile the
// source code of Catch itself and reuse the resulting object file for linking.
// Let Catch provide main():
#define CATCH_CONFIG_MAIN
#include "catch.hpp"
// That's it
// Compile implementation of Catch for use with f... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/test/src/test_conv_rule.cpp | C++ |
#include <algorithm>
#include <iostream>
#include <map>
#include "catch.hpp"
#include <prettyprint.h>
#include <string>
#include <vector>
#include <exception>
#include <numeric>
#include <pybind11/embed.h> // everything needed for embedding
#include <pybind11/functional.h>
#include <pybind11/numpy.h>
#include <pybind... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/extern/spconv/test/test_conv.py | Python | # Copyright 2019 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, soft... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/fg_reconstructor.py | Python | import copy
from pathlib import Path
from types import SimpleNamespace
from typing import List
import camtools as ct
import nksr
import numpy as np
import open3d as o3d
import torch
from pycg import vis
from lit.containers.fg_object import FGObject
from lit.extern.deepsdf.complete import DeepSDFEngine
from lit.mvfg_u... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/lidar.py | Python | import pickle
from abc import ABC
from dataclasses import dataclass, field
from pathlib import Path
from typing import List
import numpy as np
import open3d as o3d
@dataclass
class LidarIntrinsics(ABC):
"""
Abstract class for lidar intrinsics.
Ref: https://www.mathworks.com/help/lidar/ref/lidarparameter... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/lidar_utils.py | Python | """
Lidar modeling.
"""
import numpy as np
import torch
from packaging import version as pver
def custom_meshgrid(*args):
if pver.parse(torch.__version__) < pver.parse("1.10"):
return torch.meshgrid(*args)
else:
return torch.meshgrid(*args, indexing="ij")
def crop_points(points, x_min, y_mi... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/mvfg_utils.py | Python | import pickle
from pathlib import Path
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.nn.parallel
import torch.utils.data
from torch.utils.data import DataLoader, Dataset
from pcdet.ops.pointnet2.pointnet2_stack.pointnet2_utils import furthest_point_sample
def fps... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/network_utils.py | Python | import numpy as np
import sklearn
import torch
class Embedder:
def __init__(self, **kwargs):
self.kwargs = kwargs
self.create_embedding_fn()
def create_embedding_fn(self):
embed_fns = []
d = self.kwargs["input_dims"]
out_dim = 0
if self.kwargs["include_input"]:... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/path_utils.py | Python | from dataclasses import dataclass, field
from pathlib import Path
from types import SimpleNamespace
from typing import List, Union
_script_dir = Path(__file__).parent.resolve().absolute()
@dataclass
class LitPaths:
data_version: str = None
data_domain: str = None
scene_names: List[str] = field(default_fa... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/raycast_engine.py | Python | """
Base class for Raycast engines for mesh-ray intersection.
"""
from abc import ABC, abstractmethod
import numpy as np
import open3d as o3d
from lit.lidar import Lidar
class RaycastEngine(ABC):
"""
Abstract class for raycast engine.
Notes:
- Currently we assume a scene is only used for rayca... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/raycast_engine_cpu.py | Python | """
CPU Raycast engine for mesh-ray intersection.
"""
import numpy as np
import open3d as o3d
from lit.lidar import Lidar
from lit.raycast_engine import RaycastEngine
class RaycastEngineCPU(RaycastEngine):
"""
CPU implementation of raycast engine based on Open3D and Embree.
"""
def __init__(self):
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/raycast_engine_gpu.cu | CUDA | //
// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of co... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/raycast_engine_gpu.py | Python | """
GPU Raycast engine for mesh-ray intersection.
"""
import ctypes
import os
import pickle
from pathlib import Path
import camtools as ct
import cupy as cp
import numpy as np
import open3d as o3d
import optix
from pynvrtc.compiler import Program
from lit.lidar import Lidar
from lit.path_utils import LitPaths
from l... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/recon_utils.py | Python | import time
import camtools as ct
import igraph as ig
import numpy as np
import open3d as o3d
import torch
from lit.ext import lit_ext
from pcdet.utils.box_utils import box_to_corners_3d
def scale_bbox(
bbox: np.ndarray,
src_to_dst_scales: np.ndarray,
):
"""
Args:
bbox: (8,) or (7,), in Open... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/utils.py | Python | import random
import numpy as np
import torch
def seed_everything():
random.seed(0)
np.random.seed(0)
torch.manual_seed(0)
torch.cuda.manual_seed(0)
torch.cuda.manual_seed_all(0)
| yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit/vector_math.h | C/C++ Header | //
// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of co... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/global_configs.py | Python | from types import SimpleNamespace
global_configs = SimpleNamespace()
# We only care about the "car" category.
#
# Also see nuscenes_utils.py::map_name_from_general_to_detection
# Type A: treat as foreground, and put back
# Type B: treat as foreground, and remove
# Type C: treat as background, don't care
global_config... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_01_extract_scene.py | Python | import argparse
from collections import OrderedDict
from pathlib import Path
import numpy as np
import open3d as o3d
from tqdm import tqdm
from lit.containers.frame import Frame
from lit.containers.scene import Scene
from lit.path_utils import get_lit_paths
from lit.recon_utils import bbox_to_lineset
from lit_tools.g... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_02_recon_bg.py | Python | import argparse
import copy
from types import SimpleNamespace
import open3d as o3d
from tqdm import tqdm
from lit.bg_reconstructor import BGReconstructor
from lit.containers.scene import Scene
from lit.path_utils import LitPaths, get_lit_paths
from lit.recon_utils import remove_statistical_outlier
_waymo_args = Simp... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_03_recon_fg.py | Python | import argparse
import copy
import pickle
import sys
import numpy as np
import open3d as o3d
from tqdm import tqdm
from lit.containers.fg_scene import FGScene
from lit.containers.scene import Scene
from lit.fg_reconstructor import FGReconstructor
from lit.path_utils import LitPaths, get_lit_paths
from lit.recon_utils... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_04_sim.py | Python | """
This implements lidar simulation on NuScenes or Waymo.
"""
import argparse
import copy
import json
import pickle
import time
import camtools as ct
import numpy as np
import open3d as o3d
from tqdm import tqdm
from lit.containers.fg_scene import FGScene
from lit.containers.scene import Scene
from lit.containers.s... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_raykeep_dataset.py | Python | import argparse
import time
import camtools as ct
import numpy as np
import open3d as o3d
from matplotlib import pyplot as plt
from pykdtree.kdtree import KDTree
from tqdm import tqdm
from lit.containers.scene import Scene
from lit.containers.sim_scene import SimScene
from lit.lidar import (
Lidar,
NuScenesLi... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_train_mlp.py | Python | import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
from torch.utils.data import DataLoader, TensorDataset
from pathlib import Path
# Define the MLP
class SimpleMLP(nn.Module):
def __init__(self, input_size):
super(SimpleMLP, self).__init__()
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
lit_tools/lit_train_raykeep.py | Python | import random
import shutil
from pathlib import Path
import configargparse
import matplotlib.pyplot as plt
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
from matplotlib import pyplot as plt
from lit.network_utils import eval_raykeep_metrics, get_embed_fn, load_raykeep_dataset
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/__init__.py | Python | import pkg_resources
__version__ = pkg_resources.get_distribution("lit").version
| yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/config.py | Python | from pathlib import Path
import yaml
from easydict import EasyDict
def log_config_to_file(cfg, pre="cfg", logger=None):
for key, val in cfg.items():
if isinstance(cfg[key], EasyDict):
logger.info("\n%s.%s = edict()" % (pre, key))
log_config_to_file(cfg[key], pre=pre + "." + key, l... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/__init__.py | Python | import torch
from torch.utils.data import DataLoader
from torch.utils.data import DistributedSampler as _DistributedSampler
from pcdet.datasets.dataset import DatasetTemplate
from pcdet.datasets.kitti.kitti_dataset import KittiDataset
from pcdet.datasets.lyft.lyft_dataset import LyftDataset
from pcdet.datasets.nuscene... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/augmentor/augmentor_utils.py | Python | import copy
import warnings
import numba
import numpy as np
import torch
from pcdet.ops.iou3d_nms import iou3d_nms_utils
from pcdet.ops.roiaware_pool3d import roiaware_pool3d_utils
from pcdet.utils import common_utils
try:
from numba.errors import NumbaPerformanceWarning
warnings.filterwarnings("ignore", ca... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/augmentor/data_augmentor.py | Python | import copy
from functools import partial
import numpy as np
import open3d as o3d
from lit.recon_utils import bboxes_to_lineset
from pcdet.datasets.augmentor import augmentor_utils, database_sampler
from pcdet.utils import common_utils
class DataAugmentor(object):
def __init__(self, root_path, augmentor_configs... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/augmentor/database_sampler.py | Python | import pickle
import numpy as np
from pcdet.ops.iou3d_nms import iou3d_nms_utils
from pcdet.utils import box_utils
class DataBaseSampler(object):
def __init__(self, root_path, sampler_cfg, class_names, logger=None):
self.root_path = root_path
self.class_names = class_names
self.sampler_c... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/dataset.py | Python | import copy
from collections import defaultdict
from pathlib import Path
import numpy as np
import torch
import torch.utils.data as torch_data
from pcdet.datasets.augmentor.data_augmentor import DataAugmentor
from pcdet.datasets.processor.data_processor import DataProcessor
from pcdet.datasets.processor.point_feature... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_dataset.py | Python | import copy
import pickle
import numpy as np
from skimage import io
from pcdet.datasets import DatasetTemplate
from pcdet.ops.roiaware_pool3d import roiaware_pool3d_utils
from pcdet.utils import (
box_utils,
calibration_kitti,
common_utils,
object3d_kitti,
self_training_utils,
)
class KittiDatas... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_eval.py | Python | import argparse
import copy
import pickle
import numpy as np
from pcdet.datasets.kitti import kitti_utils
from pcdet.datasets.kitti.kitti_object_eval_python import eval as kitti_eval
def filter_by_range(
infos, gt_key, range_min=0, range_max=80, is_pred=False, dataset="kitti"
):
infos = copy.deepcopy(infos)... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_object_eval_python/eval.py | Python | import io as sysio
import numba
import numpy as np
from pcdet.datasets.kitti.kitti_object_eval_python.rotate_iou import rotate_iou_gpu_eval
@numba.jit
def get_thresholds(scores: np.ndarray, num_gt, num_sample_pts=41):
scores.sort()
scores = scores[::-1]
current_recall = 0
thresholds = []
for i, ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_object_eval_python/evaluate.py | Python | import time
import fire
import kitti_common as kitti
from eval import get_coco_eval_result, get_official_eval_result
def _read_imageset_file(path):
with open(path, "r") as f:
lines = f.readlines()
return [int(line) for line in lines]
def evaluate(
label_path,
result_path,
label_split_f... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_object_eval_python/kitti_common.py | Python | import concurrent.futures as futures
import os
import pathlib
import re
from collections import OrderedDict
import numpy as np
from skimage import io
def get_image_index_str(img_idx):
return "{:06d}".format(img_idx)
def get_kitti_info_path(
idx,
prefix,
info_type="image_2",
file_tail=".png",
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_object_eval_python/rotate_iou.py | Python | #####################
# Based on https://github.com/hongzhenwang/RRPN-revise
# Licensed under The MIT License
# Author: yanyan, scrin@foxmail.com
#####################
import math
import numba
import numpy as np
from numba import cuda
@numba.jit(nopython=True)
def div_up(m, n):
return m // n + (m % n > 0)
@cud... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/kitti/kitti_utils.py | Python | import numpy as np
from pcdet.datasets.dataset import DatasetTemplate as Dataset
from pcdet.utils import box_utils
def transform_annotations_to_kitti_format(
annos, map_name_to_kitti=None, info_with_fakelidar=False, **kwargs
):
"""
Args:
annos:
map_name_to_kitti: dict, map name to KITTI n... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/lyft/lyft_dataset.py | Python | import copy
import pickle
from pathlib import Path
import numpy as np
from tqdm import tqdm
from pcdet.datasets.dataset import DatasetTemplate
from pcdet.ops.roiaware_pool3d import roiaware_pool3d_utils
from pcdet.utils import box_utils, common_utils, self_training_utils
class LyftDataset(DatasetTemplate):
def ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/lyft/lyft_utils.py | Python | """
The Lyft data pre-processing and evaluation is modified from
https://github.com/poodarchu/Det3D
"""
import operator
from functools import reduce
from pathlib import Path
import numpy as np
import tqdm
from pyquaternion import Quaternion
from lyft_dataset_sdk.lyftdataset import LyftDataset
from lyft_dataset_sdk.ut... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/nuscenes/nuscenes_dataset.py | Python | import copy
import pickle
import sys
from pathlib import Path
import numpy as np
import open3d as o3d
from nuscenes.nuscenes import NuScenes, transform_matrix
from pyquaternion import Quaternion
from tqdm import tqdm
from lit.path_utils import get_lit_paths
from lit.recon_utils import bboxes_to_lineset, scale_bboxes_... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/nuscenes/nuscenes_utils.py | Python | """
The NuScenes data pre-processing and evaluation is modified from
https://github.com/traveller59/second.pytorch and https://github.com/poodarchu/Det3D
"""
import operator
from functools import reduce
from pathlib import Path
import numpy as np
import tqdm
from nuscenes.utils.data_classes import Box
from nuscenes.u... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/processor/data_processor.py | Python | from functools import partial
import numpy as np
from pcdet.utils import box_utils, common_utils
class DataProcessor(object):
def __init__(self, processor_configs, point_cloud_range, training):
self.point_cloud_range = point_cloud_range
self.training = training
self.mode = "train" if tra... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/processor/point_feature_encoder.py | Python | import numpy as np
class PointFeatureEncoder(object):
def __init__(self, config, point_cloud_range=None):
super().__init__()
self.point_encoding_config = config
assert list(self.point_encoding_config.src_feature_list[0:3]) == ["x", "y", "z"]
self.used_feature_list = self.point_enco... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/waymo/waymo_dataset.py | Python | # OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import argparse
import copy
import multiprocessing
import os
import pickle
from pathlib import Path
import numpy as np
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/waymo/waymo_eval.py | Python | # OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import argparse
import pickle
import numpy as np
import tensorflow as tf
from google.protobuf import text_format
from ... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/waymo/waymo_utils.py | Python | # OpenPCDet PyTorch Dataloader and Evaluation Tools for Waymo Open Dataset
# Reference https://github.com/open-mmlab/OpenPCDet
# Written by Shaoshuai Shi, Chaoxu Guo
# All Rights Reserved 2019-2020.
import os
import pickle
import numpy as np
import tensorflow as tf
from waymo_open_dataset import dataset_pb2
from way... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/datasets/wayscenes/wayscenes_dataset.py | Python | import numpy as np
from torch.utils.data import Dataset
from pcdet.datasets.dataset import DatasetTemplate
from pcdet.datasets.nuscenes.nuscenes_dataset import NuScenesDataset
from pcdet.datasets.waymo.waymo_dataset import WaymoDataset
class WayScenesDataset(DatasetTemplate):
def __init__(
self,
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/__init__.py | Python | from collections import namedtuple
import numpy as np
import torch
from pcdet.models.detectors import build_detector
def build_network(model_cfg, num_class, dataset):
model = build_detector(model_cfg=model_cfg, num_class=num_class, dataset=dataset)
return model
def load_data_to_gpu(batch_dict):
for ke... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/backbones_2d/__init__.py | Python | from pcdet.models.backbones_2d.base_bev_backbone import BaseBEVBackbone
__all__ = {"BaseBEVBackbone": BaseBEVBackbone}
| yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/backbones_2d/base_bev_backbone.py | Python | import numpy as np
import torch
import torch.nn as nn
class BaseBEVBackbone(nn.Module):
def __init__(self, model_cfg, input_channels):
super().__init__()
self.model_cfg = model_cfg
if self.model_cfg.get("LAYER_NUMS", None) is not None:
assert (
len(self.model_c... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/backbones_2d/map_to_bev/__init__.py | Python | from pcdet.models.backbones_2d.map_to_bev.height_compression import HeightCompression
from pcdet.models.backbones_2d.map_to_bev.pointpillar_scatter import PointPillarScatter
__all__ = {
"HeightCompression": HeightCompression,
"PointPillarScatter": PointPillarScatter,
}
| yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/backbones_2d/map_to_bev/height_compression.py | Python | import torch.nn as nn
class HeightCompression(nn.Module):
def __init__(self, model_cfg, **kwargs):
super().__init__()
self.model_cfg = model_cfg
self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES
def forward(self, batch_dict):
"""
Args:
batch_dict:
... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
pcdet/models/backbones_2d/map_to_bev/pointpillar_scatter.py | Python | import torch
import torch.nn as nn
class PointPillarScatter(nn.Module):
def __init__(self, model_cfg, grid_size, **kwargs):
super().__init__()
self.model_cfg = model_cfg
self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES
self.nx, self.ny, self.nz = grid_size
assert se... | yxlao/lit | 24 | (NeurIPS 2024) LiT: Unifying LiDAR "Languages" with LiDAR Translator | Python | yxlao | Yixing Lao | HKU-CS |
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