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_base_ = ['./tr3d.py', 'mmdet3d::_base_/datasets/sunrgbd-3d.py']
custom_imports = dict(imports=['projects.TR3D.tr3d'])
model = dict(
bbox_head=dict(
num_reg_outs=8,
label2level=[1, 1, 1, 0, 0, 1, 0, 0, 1, 0],
bbox_loss=dict(
type='TR3DRotatedIoU3DLoss', mode='diou', reduction='none')))
train_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=False,
use_color=True,
load_dim=6,
use_dim=[0, 1, 2, 3, 4, 5]),
dict(type='LoadAnnotations3D'),
dict(type='PointSample', num_points=100000),
dict(
type='RandomFlip3D',
sync_2d=False,
flip_ratio_bev_horizontal=0.5,
flip_ratio_bev_vertical=0),
dict(
type='GlobalRotScaleTrans',
rot_range=[-0.523599, 0.523599],
scale_ratio_range=[.85, 1.15],
translation_std=[.1, .1, .1],
shift_height=False),
dict(
type='Pack3DDetInputs',
keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
]
test_pipeline = [
dict(
type='LoadPointsFromFile',
coord_type='DEPTH',
shift_height=False,
use_color=True,
load_dim=6,
use_dim=[0, 1, 2, 3, 4, 5]),
dict(
type='MultiScaleFlipAug3D',
img_scale=(1333, 800),
pts_scale_ratio=1,
flip=False,
transforms=[
dict(type='PointSample', num_points=100000),
]),
dict(type='Pack3DDetInputs', keys=['points'])
]
train_dataloader = dict(
batch_size=16,
num_workers=8,
dataset=dict(
type='RepeatDataset',
times=5,
dataset=dict(pipeline=train_pipeline, filter_empty_gt=False)))
val_dataloader = dict(dataset=dict(pipeline=test_pipeline))
test_dataloader = val_dataloader
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