feat(BEVFusion-LiDAR): release BEVFusion-LiDAR 2.7.x #205

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KSeangTan wants to merge 52 commits into tier4:main from KSeangTan:feat/release_bevfusion_2_7

-Original file line number
+Diff line change
@@ Expand Up / @@ -15,7 +15,7 @@ @@
     data_root = "data/t4dataset/"
     info_directory_path = "info/user_name/"
-    experiment_group_name = "bevfusion_lidar_intensity_2.6.1/j6gen2_base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar_intensity/j6gen2_base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_j6gen2_base_120m"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand All / @@ -31,6 +31,22 @@ @@
         pts_middle_encoder=dict(
             in_channels=_base_.point_use_dim,
             sparse_shape=_base_.grid_size,
+            num_aug_features=5,
+            # min-max normalization for x, y, z, intensity, time_lag, where the max of time lag technically is two seeps (200 ms) here
+            aug_features_min_values=[
+                _base_.point_cloud_range[0],
+                _base_.point_cloud_range[1],
+                _base_.point_cloud_range[2],
+.0,
+.0,
+            ],
+            aug_features_max_values=[
+                _base_.point_cloud_range[3],
+                _base_.point_cloud_range[4],
+                _base_.point_cloud_range[5],
+.0,
+.2,
+            ],
         ),
         bbox_head=dict(
             class_names=_base_.class_names,  # Use class names to identify the correct class indices
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,7 +3,7 @@ @@
     ]
     # user setting
-    experiment_group_name = "bevfusion_lidar_intensity_2.6.1/j6gen2_base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar_intensity/j6gen2_base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_j6gen2_base_120m_t4metric_v2"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -15,7 +15,7 @@ @@
     data_root = "data/t4dataset/"
     info_directory_path = "info/user_name/"
-    experiment_group_name = "bevfusion_lidar_intensity_2.6.1/jpntaxi_base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar/jpntaxi_base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_jpntaxi_base_120m"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand All / @@ -31,6 +31,22 @@ @@
         pts_middle_encoder=dict(
             in_channels=_base_.point_use_dim,
             sparse_shape=_base_.grid_size,
+            num_aug_features=5,
+            # min-max normalization for x, y, z, intensity, time_lag, where the max of time lag technically is two seeps (200 ms) here
+            aug_features_min_values=[
+                _base_.point_cloud_range[0],
+                _base_.point_cloud_range[1],
+                _base_.point_cloud_range[2],
+.0,
+.0,
+            ],
+            aug_features_max_values=[
+                _base_.point_cloud_range[3],
+                _base_.point_cloud_range[4],
+                _base_.point_cloud_range[5],
+.0,
+.2,
+            ],
         ),
         bbox_head=dict(
             class_names=_base_.class_names,  # Use class names to identify the correct class indices
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,7 +3,7 @@ @@
     ]
     # user setting
-    experiment_group_name = "bevfusion_lidar_intensity_2.6.1/jpntaxi_base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar_intensity/jpntaxi_base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_30e_8xb8_jpntaxi_base_120m_t4metric_v2"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -15,7 +15,7 @@ @@
     data_root = "data/t4dataset/"
     info_directory_path = "info/user_name/"
-    experiment_group_name = "bevfusion_lidar_2.6.0/base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar/base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_50e_8xb8_base_120m"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand All / @@ -31,6 +31,20 @@ @@
         pts_middle_encoder=dict(
             in_channels=_base_.point_use_dim,
             sparse_shape=_base_.grid_size,
+            num_aug_features=4,
+            # min-max normalization for x, y, z, time_lag, where the max of time lag technically is two seeps (200 ms) here
+            aug_features_min_values=[
+                _base_.point_cloud_range[0],
+                _base_.point_cloud_range[1],
+                _base_.point_cloud_range[2],
+.0,
+            ],
+            aug_features_max_values=[
+                _base_.point_cloud_range[3],
+                _base_.point_cloud_range[4],
+                _base_.point_cloud_range[5],
+.2,
+            ],
         ),
         bbox_head=dict(
             class_names=_base_.class_names,  # Use class names to identify the correct class indices
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,7 +3,7 @@ @@
     ]
     # user setting
-    experiment_group_name = "bevfusion_lidar_2.6.0/base/" + _base_.dataset_type
+    experiment_group_name = "bevfusion_lidar/base/" + _base_.dataset_type
     experiment_name = "lidar_voxel_second_secfpn_50e_8xb8_base_120m_t4metric_v2"
     work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name
@@ Expand Down @@

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