Upload second.kitti.openpcdet

README.md

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+---
+license: apache-2.0
+library_name: torch-pointcloud
+tags:
+- point-cloud
+- 3d
+- pytorch
+- torch-pointcloud
+- second
+- object-detection
+datasets:
+- kitti
+model-index:
+- name: second.kitti.openpcdet
+  results:
+  - task:
+      type: 3d-object-detection
+    dataset:
+      name: KITTI
+      type: kitti
+    metrics:
+    - name: mAP
+      type: map
+      value: 66.11
+---
+
+# Model card for second.kitti.openpcdet
+
+A SECOND 3D object detection model (sparse convolutional voxel detector). Trained on KITTI.
+
+## Model Details
+
+- **Model Type:** 3D object detection
+- **Model Stats:**
+  - Params (M): 5.3
+  - Input channels: 4
+  - Classes: 3
+  - Features: 512
+- **Dataset:** KITTI
+- **Metrics:** mAP 66.11 (reference 66.25)
+- **Paper:** [SECOND: Sparsely Embedded Convolutional Detection](https://www.mdpi.com/1424-8220/18/10/3337)
+- **Converted from:** [open-mmlab/OpenPCDet](https://github.com/open-mmlab/OpenPCDet) (Apache-2.0)
+- **Library:** [torch-pointcloud](https://github.com/arthurdjn/pytorch-pointcloud)
+
+## Install
+
+```bash
+pip install torch-pointcloud
+```
+
+## Usage
+
+```python
+import torch
+import torch_pointcloud as tp
+from torch_pointcloud.utils.data import collate
+
+model, info = tp.create_model(
+    "second.kitti.openpcdet",
+    task="detection",
+    pretrained=True,
+    return_info=True,
+)
+model = model.cuda().eval()  # GPU-only kernels
+
+# synthetic sample with the keys a dataset provides
+num_points = 8192
+sample = {
+    "pos": torch.randn(num_points, 3),
+    "intensity": torch.rand(num_points, 1),
+}
+data = info["transform"](sample)
+data = collate([data], batch_from="pos_voxel")
+data = {key: value.cuda() for key, value in data.items()}
+
+with torch.no_grad():
+    out = model(data["voxel"], data["pos_voxel"], data["voxel_num_points"], data["batch"])
+```
+
+## Feature extraction
+
+```python
+with torch.no_grad():
+    features = model.forward_features(
+        data["voxel"],
+        data["pos_voxel"],
+        data["voxel_num_points"],
+        data["batch"],
+    )  # 512 channels
+```
+
+## Citation
+
+```bibtex
+@article{yan2018second,
+  title   = {{SECOND}: Sparsely Embedded Convolutional Detection},
+  author  = {Yan, Yan and Mao, Yuxing and Li, Bo},
+  journal = {Sensors},
+  volume  = {18},
+  number  = {10},
+  pages   = {3337},
+  year    = {2018}
+}
+```
+
+```bibtex
+@inproceedings{geiger2012kitti,
+  title     = {Are we ready for Autonomous Driving? The {KITTI} Vision Benchmark Suite},
+  author    = {Geiger, Andreas and Lenz, Philip and Urtasun, Raquel},
+  booktitle = {CVPR},
+  year      = {2012}
+}
+```

model.safetensors

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