{"id":41,"date":"2021-11-01T08:51:34","date_gmt":"2021-11-01T00:51:34","guid":{"rendered":"https:\/\/dcupqiu.club\/?p=41"},"modified":"2022-02-20T19:15:50","modified_gmt":"2022-02-20T11:15:50","slug":"det3d-gt-aug","status":"publish","type":"post","link":"https:\/\/dcupqiu.club\/?p=41","title":{"rendered":"Det3D:GT-AUG\u5b9e\u73b0\u7ec6\u8282"},"content":{"rendered":"<\/p>\n<p>\u5b9e\u73b0\u7c7b\uff1aCenterPoint\/det3d\/core\/sampler\/sample_ops.py: DataBaseSamplerV2<\/p>\n<p>build_dbsampler\u53c2\u6570\uff1a<\/p>\n<p><!--kg-card-begin: markdown--><\/p>\n<pre><code>type=&quot;GT-AUG&quot;,enable=False,\ndb_info_path=&quot;data\/nuScenes\/dbinfos_train_10sweeps_withvelo.pkl&quot;,\nsample_groups=[\n    dict(car=2),\n    dict(truck=3),\n    dict(construction_vehicle=7),\n    dict(bus=4),\n    dict(trailer=6),\n    dict(barrier=2),\n    dict(motorcycle=6),\n    dict(bicycle=6),\n    dict(pedestrian=2),\n    dict(traffic_cone=2),\n],\ndb_prep_steps=[\n    dict(\n        filter_by_min_num_points=dict(\n            car=5,\n            truck=5,\n            bus=5,\n            trailer=5,\n            construction_vehicle=5,\n            traffic_cone=5,\n            barrier=5,\n            motorcycle=5,\n            bicycle=5,\n            pedestrian=5,\n        )\n    ),\n    dict(filter_by_difficulty=[-1],),\n],\nglobal_random_rotation_range_per_object=[0, 0],\nrate=1.0,\n<\/code><\/pre>\n<p><!--kg-card-end: markdown--><\/p>\n<p>\u5bf9\u5e94DataBaseSamplerV2\u6784\u9020\u51fd\u6570 <\/p>\n<p><!--kg-card-begin: markdown--><\/p>\n<pre><code>db_infos = pickle.load(cfg.db_info_path)\ngroups = cfg.sample_groups\ndb_prepor = [build_db_preprocess(c, logger=logger) for c in cfg.db_prep_steps]\nrate = cfg.rate\ngrot_range = list(grot_range)\nself._group_db_infos = db_infos\nself._rate = rate\nself._groups = groups\nself._sample_classes = ['car', 'truck',...,'traffic_cone']\nself._sample_max_nums = [2, 3,...,2]\nfor k, v in self._group_db_infos.items():\n    self._sampler_dict[k] = prep.BatchSampler(v, k) # \u6b64\u5904v\u4e3a\u5355\u4e2a\u7c7b\u522b\u7684\u5bf9\u8c61\u7684db\u6570\u636e\uff0ck\u4e3a\u7c7b\u540d\uff0cBatchSampler\u4e3a\u4e00\u4e2a\u7528\u4e8e\u6279\u91cfShuffle\u91c7\u6837\u7684\u7c7b\nself._global_rot_range = global_rot_range\nself._enable_global_rot = True if np.abs(global_rot_range[0] - global_rot_range[1]) &gt;= 1e-3 # \u6240\u4ee5\u6ca1\u6709\u5141\u8bb8\u8fd9\u4e2a\uff0c\u4e3a\u5565\uff1f\n<\/code><\/pre>\n<p><!--kg-card-end: markdown--><\/p>\n<p>\u5177\u4f53\u91c7\u6837\u5b9e\u73b0\u4e3asample_all\uff0c\u5b9e\u9645\u7528\u5230\u7684\u53c2\u6570\u6709root_path, gt_boxes, gt_names, num_point_features<\/p>\n<p>Pipeline<\/p>\n<p>1st: \u786e\u5b9a\u6bcf\u4e2acls\u7684\u91c7\u6837\u6570\u76ee\uff1a<\/p>\n<p><!--kg-card-begin: markdown--><\/p>\n<pre><code>for class_name, max_sample_num in zip(\n    self._sample_classes, self._sample_max_nums\n):\n    sampled_num = int(\n        max_sample_num - np.sum([n == class_name for n in gt_names])\n    )\n    sampled_num = np.round(self._rate * sampled_num).astype(np.int64)\n    sampled_num_dict[class_name] = sampled_num\n    sample_num_per_class.append(sampled_num)\n<\/code><\/pre>\n<p><!--kg-card-end: markdown--><\/p>\n<p>2nd: \u6839\u636e\u786e\u5b9a\u7684\u91c7\u6837\u6570\u76ee\u8fdb\u884c\u91c7\u6837\uff0c\u8c03\u7528sample_class_v2<\/p>\n<p>sampled\u8bb0\u5f55\u91c7\u6837\u4fe1\u606f\uff0csampled_gt_boxes\u8bb0\u5f55\u91c7\u6837\u5230\u7684bbox\uff0cavoid_coll_boxes\u662f\u5df2\u7ecf\u91c7\u6837\u5230\u7684\u5bf9\u8c61\u7684bbox\u548cgt\u7684bbox\u7684\u7d2f\u52a0<\/p>\n<p>3rd: \u4ecesampled\u4e2d\u53d6\u51fasample\u7684\u70b9\u4e91\u548cbbox\uff0c\u5e76\u8fd4\u56de\u76f8\u5e94\u7684res<\/p>\n<h3 id=\"sampleclassv2\">Sample_class_v2<\/h3>\n<h4 id=\"pipeline\">Pipeline:<\/h4>\n<p><!--kg-card-begin: markdown--><\/p>\n<pre><code>1\u3001\u8ba1\u7b97gt\u7684bv box\n2\u3001\u8ba1\u7b97\u91c7\u6837\u5f97\u5230\u7684sp_boxes\n3\u3001\u83b7\u5f97valid_mask Array[bool: len(gt_boxes) + len(sp_boxes)]\n4\u3001\u5982\u679c\u5141\u8bb8global_rot\uff0cprep.noise_per_object_v3_ # place samples to any place in a circle\n5\u3001\u8ba1\u7b97\u91c7\u6837\u7684bv box\n6\u3001\u6839\u636e\u603b\u4f53\u7684bv box\uff0c\u8fdb\u884c\u78b0\u649e\u6d4b\u8bd5\n7\u3001\u8fd4\u56de\u65e0\u78b0\u649e\u7684\u5bf9\u8c61\n<\/code><\/pre>\n<p><!--kg-card-end: markdown--><\/p>\n<\/p>\n<\/p>\n<\/p>\n<\/p>\n<\/p>\n<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b9e\u73b0\u7c7b\uff1aCenterPoint\/det3d\/cor&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[12],"tags":[5],"class_list":["post-41","post","type-post","status-publish","format-standard","hentry","category-code-memorandum","tag-leetcode"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v18.5.1 - 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