From f71858d02eb0fbd09860150ade67558d7984b1be Mon Sep 17 00:00:00 2001 From: "junjie.huang" Date: Mon, 8 May 2023 00:35:04 +0800 Subject: [PATCH] rm point_cloud_range in occupancy task --- configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e.py | 4 ---- configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e_384704.py | 8 ++------ .../bevdet-occ-r50-4dlongterm-stereo-24e_384704.py | 7 ++----- .../bevdet-occ-stbase-4d-stereo-512x1408-24e.py | 4 ---- 4 files changed, 4 insertions(+), 19 deletions(-) diff --git a/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e.py b/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e.py index fb6723ad..6ec2e6ca 100644 --- a/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e.py +++ b/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e.py @@ -24,9 +24,6 @@ _base_ = ['../_base_/datasets/nus-3d.py', '../_base_/default_runtime.py'] # Global -# If point cloud range is changed, the models should also change their point -# cloud range accordingly -point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] # For nuScenes we usually do 10-class detection class_names = [ 'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier', @@ -70,7 +67,6 @@ align_after_view_transfromation=False, num_adj=len(range(*multi_adj_frame_id_cfg)), img_backbone=dict( - pretrained='torchvision://resnet50', type='ResNet', depth=50, num_stages=4, diff --git a/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e_384704.py b/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e_384704.py index 26404a50..bd9a98f1 100644 --- a/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e_384704.py +++ b/configs/bevdet_occ/bevdet-occ-r50-4d-stereo-24e_384704.py @@ -130,10 +130,6 @@ _base_ = ['../_base_/datasets/nus-3d.py', '../_base_/default_runtime.py'] -# Global -# If point cloud range is changed, the models should also change their point -# cloud range accordingly -point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] # For nuScenes we usually do 10-class detection class_names = [ 'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier', @@ -315,14 +311,14 @@ test_data_config = dict( pipeline=test_pipeline, - ann_file=data_root + 'bevdetv2-nuscenes-occ_infos_val.pkl') + ann_file=data_root + 'bevdetv2-nuscenes_infos_val.pkl') data = dict( samples_per_gpu=4, workers_per_gpu=4, train=dict( data_root=data_root, - ann_file=data_root + 'bevdetv2-nuscenes-occ_infos_train.pkl', + ann_file=data_root + 'bevdetv2-nuscenes_infos_train.pkl', pipeline=train_pipeline, classes=class_names, test_mode=False, diff --git a/configs/bevdet_occ/bevdet-occ-r50-4dlongterm-stereo-24e_384704.py b/configs/bevdet_occ/bevdet-occ-r50-4dlongterm-stereo-24e_384704.py index 136aa160..cd029452 100644 --- a/configs/bevdet_occ/bevdet-occ-r50-4dlongterm-stereo-24e_384704.py +++ b/configs/bevdet_occ/bevdet-occ-r50-4dlongterm-stereo-24e_384704.py @@ -24,9 +24,6 @@ _base_ = ['../_base_/datasets/nus-3d.py', '../_base_/default_runtime.py'] # Global -# If point cloud range is changed, the models should also change their point -# cloud range accordingly -point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] # For nuScenes we usually do 10-class detection class_names = [ 'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier', @@ -210,14 +207,14 @@ test_data_config = dict( pipeline=test_pipeline, - ann_file=data_root + 'bevdetv2-nuscenes-occ_infos_val.pkl') + ann_file=data_root + 'bevdetv2-nuscenes_infos_val.pkl') data = dict( samples_per_gpu=4, workers_per_gpu=4, train=dict( data_root=data_root, - ann_file=data_root + 'bevdetv2-nuscenes-occ_infos_train.pkl', + ann_file=data_root + 'bevdetv2-nuscenes_infos_train.pkl', pipeline=train_pipeline, classes=class_names, test_mode=False, diff --git a/configs/bevdet_occ/bevdet-occ-stbase-4d-stereo-512x1408-24e.py b/configs/bevdet_occ/bevdet-occ-stbase-4d-stereo-512x1408-24e.py index 12b35526..1a8ff952 100644 --- a/configs/bevdet_occ/bevdet-occ-stbase-4d-stereo-512x1408-24e.py +++ b/configs/bevdet_occ/bevdet-occ-stbase-4d-stereo-512x1408-24e.py @@ -68,10 +68,6 @@ _base_ = ['../_base_/datasets/nus-3d.py', '../_base_/default_runtime.py'] -# Global -# If point cloud range is changed, the models should also change their point -# cloud range accordingly -point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] # For nuScenes we usually do 10-class detection class_names = [ 'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',