cosense3d.agents package

Subpackages

• cosense3d.agents.cav_prototype package
  • Submodules
  • cosense3d.agents.cav_prototype.base_cav module
    • BaseCAV
      • BaseCAV.apply_transform()
      • BaseCAV.forward()
      • BaseCAV.forward_fusion()
      • BaseCAV.forward_head()
      • BaseCAV.forward_local()
      • BaseCAV.forward_localization()
      • BaseCAV.get_request_cpm()
      • BaseCAV.get_response_cpm()
      • BaseCAV.has_request()
      • BaseCAV.loss()
      • BaseCAV.post_update_memory()
      • BaseCAV.pre_update_memory()
      • BaseCAV.prepare_data()
      • BaseCAV.receive_request()
      • BaseCAV.receive_response()
      • BaseCAV.reset_data()
      • BaseCAV.transform_data()
      • BaseCAV.update()
    • BaseSeqCAV
      • BaseSeqCAV.apply_transform()
      • BaseSeqCAV.forward()
      • BaseSeqCAV.forward_fusion()
      • BaseSeqCAV.forward_head()
      • BaseSeqCAV.forward_local()
      • BaseSeqCAV.get_data()
      • BaseSeqCAV.get_request_cpm()
      • BaseSeqCAV.get_response_cpm()
      • BaseSeqCAV.has_request()
      • BaseSeqCAV.loss()
      • BaseSeqCAV.post_update_memory()
      • BaseSeqCAV.pre_update_memory()
      • BaseSeqCAV.prepare_data()
      • BaseSeqCAV.receive_request()
      • BaseSeqCAV.receive_response()
      • BaseSeqCAV.reset_data()
      • BaseSeqCAV.task_id()
      • BaseSeqCAV.update()
    • DairV2XCAV
    • OPV2VtCAV
    • OPV2VtCAV_v2
  • cosense3d.agents.cav_prototype.streamLTS_collection module
    • LTSCAVLocCorr
      • LTSCAVLocCorr.apply_transform()
      • LTSCAVLocCorr.forward_fusion()
      • LTSCAVLocCorr.forward_head()
      • LTSCAVLocCorr.forward_local()
      • LTSCAVLocCorr.forward_localization()
      • LTSCAVLocCorr.get_response_cpm()
      • LTSCAVLocCorr.prepare_data()
      • LTSCAVLocCorr.transform_data()
    • LTSDairV2X
      • LTSDairV2X.forward_fusion()
      • LTSDairV2X.forward_head()
      • LTSDairV2X.forward_local()
      • LTSDairV2X.loss()
    • StreamLidarCAV
      • StreamLidarCAV.apply_transform()
      • StreamLidarCAV.forward_fusion()
      • StreamLidarCAV.forward_head()
      • StreamLidarCAV.forward_local()
      • StreamLidarCAV.get_response_cpm()
      • StreamLidarCAV.loss()
      • StreamLidarCAV.post_update_memory()
      • StreamLidarCAV.pre_update_memory()
      • StreamLidarCAV.prepare_data()
      • StreamLidarCAV.prepare_time_scale()
      • StreamLidarCAV.refresh_memory()
      • StreamLidarCAV.timestamp
      • StreamLidarCAV.transform_data()
      • StreamLidarCAV.transform_ref_pts()
      • StreamLidarCAV.update_memory_timestamps()
      • StreamLidarCAV.vis_local_detection()
      • StreamLidarCAV.vis_local_pred()
      • StreamLidarCAV.vis_poses()
      • StreamLidarCAV.vis_ref_pts()
    • slcAttnFusion
    • slcCIASSD
      • slcCIASSD.apply_transform()
      • slcCIASSD.forward_fusion()
      • slcCIASSD.forward_head()
      • slcCIASSD.forward_local()
      • slcCIASSD.get_response_cpm()
      • slcCIASSD.loss()
      • slcCIASSD.post_update_memory()
      • slcCIASSD.pre_update_memory()
      • slcCIASSD.prepare_data()
    • slcDenseToSparse
      • slcDenseToSparse.forward_local()
      • slcDenseToSparse.prepare_data()
    • slcFPVRCNN
      • slcFPVRCNN.forward_local()
      • slcFPVRCNN.prepare_data()
    • slcFcooper
    • slcNoBoxTime
      • slcNoBoxTime.prepare_data()
      • slcNoBoxTime.update_memory_timestamps()
    • slcNoBoxTimeDairV2X
      • slcNoBoxTimeDairV2X.prepare_data()
      • slcNoBoxTimeDairV2X.update_memory_timestamps()
  • Module contents
    • get_prototype()
• cosense3d.agents.core package
  • Submodules
  • cosense3d.agents.core.base_runner module
    • BaseRunner
      • BaseRunner.init()
      • BaseRunner.logdir
      • BaseRunner.next_batch()
      • BaseRunner.run()
      • BaseRunner.set_logdir()
      • BaseRunner.setup_logger()
      • BaseRunner.vis_data()
  • cosense3d.agents.core.cav_manager module
    • CAVManager
      • CAVManager.apply_cav_function()
      • CAVManager.forward()
      • CAVManager.get_cav_with_id()
      • CAVManager.has_cav()
      • CAVManager.receive_request()
      • CAVManager.receive_response()
      • CAVManager.reset()
      • CAVManager.send_request()
      • CAVManager.send_response()
      • CAVManager.update_cav_info()
      • CAVManager.update_cpm_statistic()
  • cosense3d.agents.core.data_manager module
    • DataManager
      • DataManager.add_loc_err()
      • DataManager.apply_preprocess()
      • DataManager.boxes_to_vis_format()
      • DataManager.distribute_to_cav()
      • DataManager.distribute_to_seq_cav()
      • DataManager.distribute_to_seq_list()
      • DataManager.gather()
      • DataManager.gather_batch()
      • DataManager.gather_cav_data()
      • DataManager.gather_ego_data()
      • DataManager.gather_vis_data()
      • DataManager.generate_augment_params()
      • DataManager.generate_global_non_empty_mask()
      • DataManager.generate_local_non_empty_mask()
      • DataManager.get_gt_boxes_as_vis_format()
      • DataManager.get_vis_data_bev()
      • DataManager.get_vis_data_detection()
      • DataManager.get_vis_data_input()
      • DataManager.get_vis_data_meta()
      • DataManager.remove_global_empty_boxes()
      • DataManager.remove_local_empty_boxes()
      • DataManager.sample_global_bev_tgt_pts()
      • DataManager.scatter()
      • DataManager.update()
      • DataManager.vis_global_data_plt()
  • cosense3d.agents.core.forward_runner module
    • ForwardRunner
      • ForwardRunner.forward()
      • ForwardRunner.frame_loss()
      • ForwardRunner.gather_cav_ids()
      • ForwardRunner.loss()
      • ForwardRunner.to_gpu()
      • ForwardRunner.training
  • cosense3d.agents.core.gui module
    • GUI
      • GUI.change_color_mode()
      • GUI.change_glcolor()
      • GUI.change_visible()
      • GUI.connect_events_to_funcs()
      • GUI.get_toolbar()
      • GUI.initGUI()
      • GUI.refresh()
      • GUI.setRunner()
      • GUI.setupUI()
      • GUI.start()
      • GUI.step()
      • GUI.stop()
  • cosense3d.agents.core.hooks module
    • BaseHook
      • BaseHook.post_epoch()
      • BaseHook.post_iter()
      • BaseHook.pre_epoch()
      • BaseHook.pre_iter()
      • BaseHook.set_logger()
    • CPMStatisticHook
      • CPMStatisticHook.post_epoch()
      • CPMStatisticHook.set_logger()
    • CheckPointsHook
      • CheckPointsHook.post_epoch()
      • CheckPointsHook.post_iter()
      • CheckPointsHook.save()
    • DetectionNMSHook
      • DetectionNMSHook.post_iter()
    • EvalBEVSemsegHook
      • EvalBEVSemsegHook.cal_ious()
      • EvalBEVSemsegHook.crop_map()
      • EvalBEVSemsegHook.gt_dynamic_map()
      • EvalBEVSemsegHook.gt_static_map()
      • EvalBEVSemsegHook.iou()
      • EvalBEVSemsegHook.post_epoch()
      • EvalBEVSemsegHook.post_iter()
      • EvalBEVSemsegHook.set_logger()
    • EvalDetectionBEVHook
      • EvalDetectionBEVHook.filter_box_ranges()
      • EvalDetectionBEVHook.format_final_result()
      • EvalDetectionBEVHook.post_epoch()
      • EvalDetectionBEVHook.post_iter()
      • EvalDetectionBEVHook.set_logger()
    • EvalDetectionHook
      • EvalDetectionHook.eval_cosense3d_final()
      • EvalDetectionHook.filter_box_ranges()
      • EvalDetectionHook.format_final_result()
      • EvalDetectionHook.post_epoch()
      • EvalDetectionHook.post_iter()
      • EvalDetectionHook.set_logger()
    • Hooks
      • Hooks.set_logger()
    • MemoryUsageHook
      • MemoryUsageHook.post_iter()
    • TrainTimerHook
      • TrainTimerHook.post_iter()
      • TrainTimerHook.pre_epoch()
  • cosense3d.agents.core.task_manager module
    • TaskManager
      • TaskManager.reformat_tasks()
      • TaskManager.summarize_loss_tasks()
      • TaskManager.summarize_tasks()
      • TaskManager.task_to_ordered_dict()
  • cosense3d.agents.core.test_runner module
    • TestRunner
      • TestRunner.load()
      • TestRunner.run()
      • TestRunner.run_itr()
      • TestRunner.setup_logger()
      • TestRunner.step()
  • cosense3d.agents.core.train_runner module
    • TrainRunner
      • TrainRunner.resume()
      • TrainRunner.run()
      • TrainRunner.run_epoch()
      • TrainRunner.run_itr()
      • TrainRunner.setup_logger()
      • TrainRunner.step()
  • cosense3d.agents.core.vis_runner module
    • VisRunner
      • VisRunner.load()
      • VisRunner.run()
      • VisRunner.run_itr()
      • VisRunner.step()
  • Module contents
• cosense3d.agents.utils package
  • Submodules
  • cosense3d.agents.utils.deco module
    • save_ckpt_on_error()
  • cosense3d.agents.utils.transform module
    • DataOnlineProcessor
      • DataOnlineProcessor.adaptive_free_space_augmentation()
      • DataOnlineProcessor.apply_transform()
      • DataOnlineProcessor.cav_aug_transform()
      • DataOnlineProcessor.filter_range()
      • DataOnlineProcessor.free_space_augmentation()
      • DataOnlineProcessor.generate_sparse_target_bev_points()
      • DataOnlineProcessor.generate_sparse_target_roadline_points()
      • DataOnlineProcessor.update_transform_with_aug()
    • add_flip()
    • add_rotate()
    • add_scale()
    • apply_transform()
    • filter_range()
    • filter_range_mask()
    • generate_bev_tgt_pts()
  • Module contents
• cosense3d.agents.viewer package
  • Subpackages
    • cosense3d.agents.viewer.items package
      • Submodules
      • cosense3d.agents.viewer.items.graph_items module
      • Module contents
  • Submodules
  • cosense3d.agents.viewer.gl_viewer module
    • GLViewer
      • GLViewer.addBox()
      • GLViewer.box()
      • GLViewer.change_visibility()
      • GLViewer.drawRectangle()
      • GLViewer.draw_axes()
      • GLViewer.draw_depth_buffer()
      • GLViewer.evt_pos_to_world()
      • GLViewer.get_point_depth()
      • GLViewer.get_region_depth()
      • GLViewer.highlightBox()
      • GLViewer.initializeGL()
      • GLViewer.keyPressEvent()
      • GLViewer.keyReleaseEvent()
      • GLViewer.model_pose_to_world()
      • GLViewer.mouseDoubleClickEvent()
      • GLViewer.mouseMoveEvent()
      • GLViewer.mousePressEvent()
      • GLViewer.mouseReleaseEvent()
      • GLViewer.paintGL()
      • GLViewer.paintRect()
      • GLViewer.refresh()
      • GLViewer.removeActivate()
      • GLViewer.removeHeilight()
      • GLViewer.removeRectangle()
      • GLViewer.selectHeilight()
      • GLViewer.updateFrameData()
      • GLViewer.updateLabel()
      • GLViewer.updatePCDs()
  • cosense3d.agents.viewer.img_anno3d_viewer module
    • ImgAnno3DViewer
      • ImgAnno3DViewer.refresh()
  • cosense3d.agents.viewer.img_viewer module
    • ImgViewer
      • ImgViewer.refresh()
  • cosense3d.agents.viewer.output_viewer module
    • BEVDenseCanvas
      • BEVDenseCanvas.refresh()
    • BEVSparseCanvas
      • BEVSparseCanvas.refresh()
    • DetectionCanvas
      • DetectionCanvas.refresh()
    • DetectionScoreMap
      • DetectionScoreMap.refresh()
    • MplCanvas
      • MplCanvas.update_title()
    • OutputViewer
      • OutputViewer.refresh()
    • SparseDetectionCanvas
      • SparseDetectionCanvas.refresh()
  • cosense3d.agents.viewer.utils module
    • circular_mask()
    • depth_min()
  • Module contents

Submodules

cosense3d.agents.center_controller module

class cosense3d.agents.center_controller.CenterController(cfg, data_loader, dist=False)

Bases: object

property model

property modules

property parameters

run_frame(frame_data, with_loss, training_mode, **kwargs)

run_seq(seq_data, training_mode, **kwargs)

setup_core(cfg)

test_forward(batch_dict, **kwargs)

train_forward(batch_dict, **kwargs)

update_cfg(cfg, *args)

vis_forward(batch_dict, **kwargs)

Module contents