feat(BEVFusion): release BEVFusion 2.6.x (#201)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: KSeangTan

autoware_ml/configs/detection3d/dataset/t4dataset/base.py

@@ -48,7 +48,6 @@
     "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", False),
     "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False),
     "largebus": ("t4dataset_largebus_infos_test.pkl", False),
-    "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", False),
     "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False),
     "base": ("t4dataset_base_infos_test.pkl", True),
 }

autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py

@@ -18,8 +18,7 @@
 
 # dataset scene setting
 dataset_test_groups = {
-    "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False),
-    "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", True),
+    "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", True),
 }
 
 dataset_version_list = [

projects/BEVFusion/bevfusion/__init__.py

@@ -6,7 +6,7 @@
 from .sparse_encoder import BEVFusionSparseEncoder
 from .transformer import TransformerDecoderLayer
 from .transforms_3d import BEVFusionGlobalRotScaleTrans, BEVFusionRandomFlip3D, GridMask, ImageAug3D
-from .utils import BBoxBEVL1Cost, HeuristicAssigner3D, HungarianAssigner3D, IoU3DCost
+from .utils import BBoxBEVL1Cost, HeuristicAssigner3D, HungarianAssigner3D, IoU3DCost, TransFusionBBoxCoder
 
 __all__ = [
     "BEVFusion",
@@ -26,4 +26,5 @@
     "TransformerDecoderLayer",
     "BEVFusionRandomFlip3D",
     "BEVFusionGlobalRotScaleTrans",
+    "TransFusionBBoxCoder",
 ]

projects/BEVFusion/bevfusion/bevfusion_head.py

@@ -554,7 +554,7 @@ def get_targets_single(self, gt_instances_3d, preds_dict, batch_idx):
             vel = None
 
         boxes_dict = self.bbox_coder.decode(
-            score, rot, dim, center, height, vel
+            score, rot, dim, center, height, vel, filter=False
         )  # decode the prediction to real world metric bbox
         bboxes_tensor = boxes_dict[0]["bboxes"]
         gt_bboxes_tensor = gt_bboxes_3d.tensor.to(score.device)

projects/BEVFusion/configs/deploy/bevfusion_main_body_lidar_only_intensity_tensorrt_dynamic.py

@@ -30,7 +30,7 @@
     export_params=True,
     keep_initializers_as_inputs=False,
     opset_version=17,
-    save_file="bevfusion_lidar.onnx",
+    save_file="bevfusion_lidar_intensity.onnx",
     input_names=["voxels", "coors", "num_points_per_voxel"],
     output_names=["bbox_pred", "score", "label_pred"],
     dynamic_axes={

…ra_swin_fpn_30e_4xb8_j6gen2_base_120m.py …ra_swin_fpn_30e_8xb8_j6gen2_base_120m.pyprojects/BEVFusion/configs/t4dataset/BEVFusion-C/bevfusion_camera_swin_fpn_30e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-C/bevfusion_camera_swin_fpn_30e_8xb8_j6gen2_base_120m.py projects/BEVFusion/configs/t4dataset/BEVFusion-C/bevfusion_camera_swin_fpn_30e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-C/bevfusion_camera_swin_fpn_30e_8xb8_j6gen2_base_120m.py

@@ -3,7 +3,7 @@
     "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py",
     "../default/pipelines/default_camera_lidar_intensity_120m.py",
     "../default/models/default_camera_swin_fpn_120m.py",
-    "../default/schedulers/default_30e_4xb8_adamw_linear_cosine.py",
+    "../default/schedulers/default_30e_8xb8_adamw_linear_cosine.py",
     "../default/default_misc.py",
 ]
 
@@ -16,7 +16,7 @@
 info_directory_path = "info/user_name/"
 
 experiment_group_name = "bevfusion_camera/j6gen2_base/" + _base_.dataset_type
-experiment_name = "bevfusion_camera_swin_fpn_30e_4xb8_j6gen2_base_120m"
+experiment_name = "bevfusion_camera_swin_fpn_30e_8xb8_j6gen2_base_120m"
 work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
 
 # model parameter

…cond_secfpn_20e_4xb8_j6gen2_base_120m.py …cond_secfpn_20e_8xb8_j6gen2_base_120m.pyprojects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_j6gen2_base_120m.py projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_j6gen2_base_120m.py

@@ -3,7 +3,7 @@
     "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py",
     "../default/pipelines/default_camera_lidar_intensity_120m.py",
     "../default/models/default_camera_swin_fpn_lidar_second_secfpn_120m.py",
-    "../default/schedulers/default_20e_4xb8_adamw_linear_cosine.py",
+    "../default/schedulers/default_20e_8xb8_adamw_linear_cosine.py",
     "../default/default_misc.py",
 ]
 
@@ -16,7 +16,7 @@
 info_directory_path = "info/user_name/"
 
 experiment_group_name = "bevfusion_camera_lidar_intensity/j6gen2_base/" + _base_.dataset_type
-experiment_name = "bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_j6gen2_base_120m"
+experiment_name = "bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_j6gen2_base_120m"
 work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
 
 # model parameter

…ecfpn_20e_4xb8_jpntaxi_gen2_base_120m.py …ond_secfpn_20e_8xb8_jpntaxi_base_120m.pyprojects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_jpntaxi_gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_jpntaxi_base_120m.py projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_jpntaxi_gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-CL/bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_jpntaxi_base_120m.py

@@ -1,9 +1,9 @@
 _base_ = [
     "../../../../../autoware_ml/configs/detection3d/default_runtime.py",
-    "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py",
+    "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py",
     "../default/pipelines/default_camera_lidar_intensity_120m.py",
     "../default/models/default_camera_swin_fpn_lidar_second_secfpn_120m.py",
-    "../default/schedulers/default_20e_4xb8_adamw_linear_cosine.py",
+    "../default/schedulers/default_20e_8xb8_adamw_linear_cosine.py",
     "../default/default_misc.py",
 ]
 
@@ -15,8 +15,8 @@
 data_root = "data/t4dataset/"
 info_directory_path = "info/user_name/"
 
-experiment_group_name = "bevfusion_camera_lidar_intensity/jpntaxi_gen2_base/" + _base_.dataset_type
-experiment_name = "bevfusion_camera_lidar_voxel_second_secfpn_20e_4xb8_jpntaxi_gen2_base_120m"
+experiment_group_name = "bevfusion_camera_lidar_intensity/jpntaxi_base/" + _base_.dataset_type
+experiment_name = "bevfusion_camera_lidar_voxel_second_secfpn_20e_8xb8_jpntaxi_base_120m"
 work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
 
 # model parameter

…cond_secfpn_30e_4xb8_j6gen2_base_120m.py …cond_secfpn_30e_8xb8_j6gen2_base_120m.pyprojects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_8xb8_j6gen2_base_120m.py projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_4xb8_j6gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_8xb8_j6gen2_base_120m.py

@@ -3,7 +3,7 @@
     "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py",
     "../default/pipelines/default_offline_lidar_intensity_120m.py",
     "../default/models/default_lidar_second_secfpn_120m.py",
-    "../default/schedulers/default_30e_4xb8_adamw_cosine.py",
+    "../default/schedulers/default_30e_8xb8_adamw_cosine.py",
     "../default/default_misc.py",
 ]
 
@@ -16,7 +16,7 @@
 info_directory_path = "info/user_name/"
 
 experiment_group_name = "bevfusion_lidar_intensity_offline/j6gen2_base/" + _base_.dataset_type
-experiment_name = "lidar_voxel_second_secfpn_30e_4xb8_j6gen2_base_120m"
+experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_j6gen2_base_120m"
 work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
 
 # model parameter

…ecfpn_30e_4xb8_jpntaxi_gen2_base_120m.py …ecfpn_30e_8xb8_jpntaxi_gen2_base_120m.pyprojects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_4xb8_jpntaxi_gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_8xb8_jpntaxi_gen2_base_120m.py projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_4xb8_jpntaxi_gen2_base_120m.py renamed to projects/BEVFusion/configs/t4dataset/BEVFusion-L-offline/bevfusion_offline_lidar_voxel_second_secfpn_30e_8xb8_jpntaxi_gen2_base_120m.py

@@ -3,7 +3,7 @@
     "../../../../../autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2_base.py",
     "../default/pipelines/default_offline_lidar_intensity_120m.py",
     "../default/models/default_lidar_second_secfpn_120m.py",
-    "../default/schedulers/default_30e_4xb8_adamw_cosine.py",
+    "../default/schedulers/default_30e_8xb8_adamw_cosine.py",
     "../default/default_misc.py",
 ]
 
@@ -16,7 +16,7 @@
 info_directory_path = "info/user_name/"
 
 experiment_group_name = "bevfusion_lidar_intensity_offline/jpntaxi_gen2_base/" + _base_.dataset_type
-experiment_name = "lidar_voxel_second_secfpn_30e_4xb8_jpntaxi_gen2_base_120m"
+experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_jpntaxi_gen2_base_120m"
 work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
 
 # model parameter