SYMBOL INDEX (217 symbols across 41 files)

FILE: bevdepth/callbacks/ema.py
  function is_parallel (line 14) | def is_parallel(model):
  class ModelEMA (line 23) | class ModelEMA:
    method __init__ (line 37) | def __init__(self, model, decay=0.9999, updates=0):
    method update (line 53) | def update(self, trainer, model):
  class EMACallback (line 67) | class EMACallback(Callback):
    method __init__ (line 69) | def __init__(self, len_updates) -> None:
    method on_fit_start (line 73) | def on_fit_start(self, trainer, pl_module):
    method on_train_batch_end (line 92) | def on_train_batch_end(self,
    method on_train_epoch_end (line 101) | def on_train_epoch_end(self, trainer, pl_module) -> None:

FILE: bevdepth/datasets/nusc_det_dataset.py
  function get_rot (line 42) | def get_rot(h):
  function img_transform (line 49) | def img_transform(img, resize, resize_dims, crop, flip, rotate):
  function bev_transform (line 80) | def bev_transform(gt_boxes, rotate_angle, scale_ratio, flip_dx, flip_dy):
  function depth_transform (line 107) | def depth_transform(cam_depth, resize, resize_dims, crop, flip, rotate):
  function map_pointcloud_to_image (line 155) | def map_pointcloud_to_image(
  class NuscDetDataset (line 217) | class NuscDetDataset(Dataset):
    method __init__ (line 219) | def __init__(self,
    method _get_sample_indices (line 285) | def _get_sample_indices(self):
    method sample_ida_augmentation (line 320) | def sample_ida_augmentation(self):
    method sample_bda_augmentation (line 349) | def sample_bda_augmentation(self):
    method get_lidar_depth (line 363) | def get_lidar_depth(self, lidar_points, img, lidar_info, cam_info):
    method get_image (line 374) | def get_image(self, cam_infos, cams, lidar_infos=None):
    method get_gt (line 536) | def get_gt(self, info, cams):
    method choose_cams (line 583) | def choose_cams(self):
    method __getitem__ (line 598) | def __getitem__(self, idx):
    method __str__ (line 688) | def __str__(self):
    method __len__ (line 693) | def __len__(self):
  function collate_fn (line 700) | def collate_fn(data, is_return_depth=False):

FILE: bevdepth/evaluators/det_evaluators.py
  class DetNuscEvaluator (line 15) | class DetNuscEvaluator():
    method __init__ (line 37) | def __init__(
    method _evaluate_single (line 61) | def _evaluate_single(self,
    method format_results (line 119) | def format_results(self,
    method evaluate (line 174) | def evaluate(
    method _format_bbox (line 219) | def _format_bbox(self, results, img_metas, jsonfile_prefix=None):

FILE: bevdepth/exps/base_cli.py
  function run_cli (line 13) | def run_cli(model_class=BEVDepthLightningModel,

FILE: bevdepth/exps/nuscenes/MatrixVT/matrixvt_bev_depth_lss_r50_256x704_128x128_24e_ema.py
  class MatrixVT_Exp (line 11) | class MatrixVT_Exp(BaseExp):
    method __init__ (line 13) | def __init__(self, *args, **kwargs):

FILE: bevdepth/exps/nuscenes/base_exp.py
  class BEVDepthLightningModel (line 183) | class BEVDepthLightningModel(LightningModule):
    method __init__ (line 188) | def __init__(self,
    method forward (line 238) | def forward(self, sweep_imgs, mats):
    method training_step (line 241) | def training_step(self, batch):
    method get_depth_loss (line 265) | def get_depth_loss(self, depth_labels, depth_preds):
    method get_downsampled_gt_depth (line 280) | def get_downsampled_gt_depth(self, gt_depths):
    method eval_step (line 317) | def eval_step(self, batch, batch_idx, prefix: str):
    method validation_step (line 335) | def validation_step(self, batch, batch_idx):
    method validation_epoch_end (line 338) | def validation_epoch_end(self, validation_step_outputs):
    method test_epoch_end (line 355) | def test_epoch_end(self, test_step_outputs):
    method configure_optimizers (line 373) | def configure_optimizers(self):
    method train_dataloader (line 382) | def train_dataloader(self):
    method val_dataloader (line 410) | def val_dataloader(self):
    method test_dataloader (line 433) | def test_dataloader(self):
    method predict_dataloader (line 436) | def predict_dataloader(self):
    method test_step (line 459) | def test_step(self, batch, batch_idx):
    method predict_step (line 462) | def predict_step(self, batch, batch_idx):
    method add_model_specific_args (line 466) | def add_model_specific_args(parent_parser):  # pragma: no-cover

FILE: bevdepth/exps/nuscenes/fusion/bev_depth_fusion_lss_r50_256x704_128x128_24e.py
  class BEVDepthLightningModel (line 13) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 15) | def __init__(self, *args, **kwargs) -> None:
    method forward (line 22) | def forward(self, sweep_imgs, mats, lidar_depth):
    method training_step (line 25) | def training_step(self, batch):
    method eval_step (line 47) | def eval_step(self, batch, batch_idx, prefix: str):

FILE: bevdepth/exps/nuscenes/fusion/bev_depth_fusion_lss_r50_256x704_128x128_24e_2key.py
  class BEVDepthLightningModel (line 8) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 10) | def __init__(self, **kwargs):

FILE: bevdepth/exps/nuscenes/fusion/bev_depth_fusion_lss_r50_256x704_128x128_24e_2key_trainval.py
  class BEVDepthLightningModel (line 8) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 10) | def __init__(self, *args, **kwargs) -> None:

FILE: bevdepth/exps/nuscenes/fusion/bev_depth_fusion_lss_r50_256x704_128x128_24e_key4.py
  class BEVDepthLightningModel (line 8) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 10) | def __init__(self, **kwargs):

FILE: bevdepth/exps/nuscenes/mv/bev_depth_lss_r50_256x704_128x128_20e_cbgs_2key_da.py
  class BEVDepthLightningModel (line 33) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 35) | def __init__(self, **kwargs):
    method configure_optimizers (line 43) | def configure_optimizers(self):

FILE: bevdepth/exps/nuscenes/mv/bev_depth_lss_r50_256x704_128x128_24e_2key.py
  class BEVDepthLightningModel (line 31) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 33) | def __init__(self, **kwargs):

FILE: bevdepth/exps/nuscenes/mv/bev_depth_lss_r50_256x704_128x128_24e_ema.py
  class BEVDepthLightningModel (line 12) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method configure_optimizers (line 14) | def configure_optimizers(self):

FILE: bevdepth/exps/nuscenes/mv/bev_depth_lss_r50_512x1408_128x128_24e_2key.py
  class BEVDepthLightningModel (line 11) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 13) | def __init__(self, **kwargs):
    method configure_optimizers (line 23) | def configure_optimizers(self):

FILE: bevdepth/exps/nuscenes/mv/bev_depth_lss_r50_640x1600_128x128_24e_2key.py
  class BEVDepthLightningModel (line 11) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 13) | def __init__(self, **kwargs):
    method configure_optimizers (line 23) | def configure_optimizers(self):

FILE: bevdepth/exps/nuscenes/mv/bev_stereo_lss_r50_256x704_128x128_20e_cbgs_2key_da.py
  class BEVDepthLightningModel (line 33) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 35) | def __init__(self, **kwargs):
    method configure_optimizers (line 44) | def configure_optimizers(self):

FILE: bevdepth/exps/nuscenes/mv/bev_stereo_lss_r50_256x704_128x128_24e_2key.py
  class BEVDepthLightningModel (line 30) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 32) | def __init__(self, **kwargs):

FILE: bevdepth/exps/nuscenes/mv/bev_stereo_lss_r50_256x704_128x128_24e_key4.py
  class BEVDepthLightningModel (line 29) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 31) | def __init__(self, **kwargs):

FILE: bevdepth/exps/nuscenes/mv/bev_stereo_lss_r50_256x704_128x128_24e_key4_ema.py
  class BEVDepthLightningModel (line 29) | class BEVDepthLightningModel(BaseBEVDepthLightningModel):
    method __init__ (line 31) | def __init__(self, **kwargs):

FILE: bevdepth/layers/backbones/base_lss_fpn.py
  class _ASPPModule (line 20) | class _ASPPModule(nn.Module):
    method __init__ (line 22) | def __init__(self, inplanes, planes, kernel_size, padding, dilation,
    method forward (line 37) | def forward(self, x):
    method _init_weight (line 43) | def _init_weight(self):
  class ASPP (line 52) | class ASPP(nn.Module):
    method __init__ (line 54) | def __init__(self, inplanes, mid_channels=256, BatchNorm=nn.BatchNorm2d):
    method forward (line 99) | def forward(self, x):
    method _init_weight (line 117) | def _init_weight(self):
  class Mlp (line 126) | class Mlp(nn.Module):
    method __init__ (line 128) | def __init__(self,
    method forward (line 143) | def forward(self, x):
  class SELayer (line 152) | class SELayer(nn.Module):
    method __init__ (line 154) | def __init__(self, channels, act_layer=nn.ReLU, gate_layer=nn.Sigmoid):
    method forward (line 161) | def forward(self, x, x_se):
  class DepthNet (line 168) | class DepthNet(nn.Module):
    method __init__ (line 170) | def __init__(self, in_channels, mid_channels, context_channels,
    method forward (line 213) | def forward(self, x, mats_dict):
  class DepthAggregation (line 258) | class DepthAggregation(nn.Module):
    method __init__ (line 263) | def __init__(self, in_channels, mid_channels, out_channels):
    method forward (line 308) | def forward(self, x):
  class BaseLSSFPN (line 315) | class BaseLSSFPN(nn.Module):
    method __init__ (line 317) | def __init__(self,
    method _configure_depth_net (line 378) | def _configure_depth_net(self, depth_net_conf):
    method _configure_depth_aggregation_net (line 386) | def _configure_depth_aggregation_net(self):
    method _forward_voxel_net (line 391) | def _forward_voxel_net(self, img_feat_with_depth):
    method create_frustum (line 404) | def create_frustum(self):
    method get_geometry (line 424) | def get_geometry(self, sensor2ego_mat, intrin_mat, ida_mat, bda_mat):
    method get_cam_feats (line 461) | def get_cam_feats(self, imgs):
    method _forward_depth_net (line 473) | def _forward_depth_net(self, feat, mats_dict):
    method _forward_single_sweep (line 476) | def _forward_single_sweep(self,
    method forward (line 559) | def forward(self,

FILE: bevdepth/layers/backbones/bevstereo_lss_fpn.py
  class ConvBnReLU3D (line 25) | class ConvBnReLU3D(nn.Module):
    method __init__ (line 28) | def __init__(
    method forward (line 57) | def forward(self, x: torch.Tensor) -> torch.Tensor:
  class DepthNet (line 62) | class DepthNet(nn.Module):
    method __init__ (line 64) | def __init__(self,
    method forward (line 141) | def forward(self, x, mats_dict, scale_depth_factor=1000.0):
  class BEVStereoLSSFPN (line 198) | class BEVStereoLSSFPN(BaseLSSFPN):
    method __init__ (line 200) | def __init__(self,
    method depth_sampling (line 322) | def depth_sampling(self):
    method _generate_cost_volume (line 335) | def _generate_cost_volume(
    method homo_warping (line 398) | def homo_warping(
    method _forward_stereo (line 477) | def _forward_stereo(
    method create_depth_sample_frustum (line 633) | def create_depth_sample_frustum(self, depth_sample, downsample_factor=...
    method _configure_depth_net (line 661) | def _configure_depth_net(self, depth_net_conf):
    method get_cam_feats (line 671) | def get_cam_feats(self, imgs):
    method _forward_mask (line 685) | def _forward_mask(
    method _forward_single_sweep (line 742) | def _forward_single_sweep(self,
    method forward (line 807) | def forward(self,

FILE: bevdepth/layers/backbones/fusion_lss_fpn.py
  class DepthNet (line 17) | class DepthNet(nn.Module):
    method __init__ (line 19) | def __init__(self, in_channels, mid_channels, context_channels,
    method forward (line 55) | def forward(self, x, mats_dict, lidar_depth, scale_depth_factor=1000.0):
  class FusionLSSFPN (line 75) | class FusionLSSFPN(BaseLSSFPN):
    method _configure_depth_net (line 77) | def _configure_depth_net(self, depth_net_conf):
    method _forward_depth_net (line 85) | def _forward_depth_net(self, feat, mats_dict, lidar_depth):
    method _forward_single_sweep (line 88) | def _forward_single_sweep(self,
    method forward (line 171) | def forward(self,
    method get_downsampled_lidar_depth (line 233) | def get_downsampled_lidar_depth(self, lidar_depth):

FILE: bevdepth/layers/backbones/matrixvt.py
  class HoriConv (line 9) | class HoriConv(nn.Module):
    method __init__ (line 11) | def __init__(self, in_channels, mid_channels, out_channels, cat_dim=0):
    method forward (line 106) | def forward(self, x, pe=None):
  class DepthReducer (line 120) | class DepthReducer(nn.Module):
    method __init__ (line 122) | def __init__(self, img_channels, mid_channels):
    method forward (line 143) | def forward(self, feat, depth):
  class MatrixVT (line 150) | class MatrixVT(BaseLSSFPN):
    method __init__ (line 152) | def __init__(
    method create_bev_anchors (line 203) | def create_bev_anchors(self, x_bound, y_bound, ds_rate=1):
    method get_proj_mat (line 236) | def get_proj_mat(self, mats_dict=None):
    method reduce_and_project (line 294) | def reduce_and_project(self, feature, depth, mats_dict):
    method _forward_single_sweep (line 329) | def _forward_single_sweep(self,

FILE: bevdepth/layers/heads/bev_depth_head.py
  function size_aware_circle_nms (line 34) | def size_aware_circle_nms(dets, thresh_scale, post_max_size=83):
  class BEVDepthHead (line 85) | class BEVDepthHead(CenterHead):
    method __init__ (line 103) | def __init__(
    method forward (line 141) | def forward(self, x):
    method get_targets_single (line 169) | def get_targets_single(self, gt_bboxes_3d, gt_labels_3d):
    method loss (line 322) | def loss(self, targets, preds_dicts, **kwargs):
    method get_bboxes (line 382) | def get_bboxes(self, preds_dicts, img_metas, img=None, rescale=False):

FILE: bevdepth/models/base_bev_depth.py
  class BaseBEVDepth (line 9) | class BaseBEVDepth(nn.Module):
    method __init__ (line 20) | def __init__(self, backbone_conf, head_conf, is_train_depth=False):
    method forward (line 26) | def forward(
    method get_targets (line 67) | def get_targets(self, gt_boxes, gt_labels):
    method loss (line 87) | def loss(self, targets, preds_dicts):
    method get_bboxes (line 101) | def get_bboxes(self, preds_dicts, img_metas=None, img=None, rescale=Fa...

FILE: bevdepth/models/bev_stereo.py
  class BEVStereo (line 7) | class BEVStereo(BaseBEVDepth):
    method __init__ (line 18) | def __init__(self, backbone_conf, head_conf, is_train_depth=False):

FILE: bevdepth/models/fusion_bev_depth.py
  class FusionBEVDepth (line 9) | class FusionBEVDepth(BaseBEVDepth):
    method __init__ (line 20) | def __init__(self, backbone_conf, head_conf, is_train_depth=False):
    method forward (line 26) | def forward(

FILE: bevdepth/models/matrixvt_det.py
  class MatrixVT_Det (line 5) | class MatrixVT_Det(BaseBEVDepth):
    method __init__ (line 15) | def __init__(self, backbone_conf, head_conf, is_train_depth=False):

FILE: bevdepth/ops/voxel_pooling_inference/src/voxel_pooling_inference_forward.cpp
  function voxel_pooling_inference_forward_wrapper (line 37) | int voxel_pooling_inference_forward_wrapper(
  function PYBIND11_MODULE (line 71) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: bevdepth/ops/voxel_pooling_inference/voxel_pooling_inference.py
  class VoxelPoolingInference (line 8) | class VoxelPoolingInference(Function):
    method forward (line 11) | def forward(ctx, geom_xyz: torch.Tensor, depth_features: torch.Tensor,

FILE: bevdepth/ops/voxel_pooling_train/src/voxel_pooling_train_forward.cpp
  function voxel_pooling_train_forward_wrapper (line 38) | int voxel_pooling_train_forward_wrapper(int batch_size, int num_points,
  function PYBIND11_MODULE (line 75) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: bevdepth/ops/voxel_pooling_train/voxel_pooling_train.py
  class VoxelPoolingTrain (line 8) | class VoxelPoolingTrain(Function):
    method forward (line 11) | def forward(ctx, geom_xyz: torch.Tensor, input_features: torch.Tensor,
    method backward (line 59) | def backward(ctx, grad_output_features):

FILE: bevdepth/utils/torch_dist.py
  function get_rank (line 8) | def get_rank() -> int:
  function get_world_size (line 16) | def get_world_size() -> int:
  function synchronize (line 24) | def synchronize():
  function all_gather_object (line 37) | def all_gather_object(obj):
  function is_available (line 46) | def is_available() -> bool:

FILE: scripts/gen_info.py
  function generate_info (line 8) | def generate_info(nusc, scenes, max_cam_sweeps=6, max_lidar_sweeps=10):
  function main (line 149) | def main():

FILE: scripts/visualize_nusc.py
  function parse_args (line 16) | def parse_args():
  function get_ego_box (line 29) | def get_ego_box(box_dict, ego2global_rotation, ego2global_translation):
  function rotate_points_along_z (line 46) | def rotate_points_along_z(points, angle):
  function get_corners (line 65) | def get_corners(boxes3d):
  function get_bev_lines (line 99) | def get_bev_lines(corners):
  function get_3d_lines (line 104) | def get_3d_lines(corners):
  function get_cam_corners (line 114) | def get_cam_corners(corners, translation, rotation, cam_intrinsics):
  function demo (line 125) | def demo(

FILE: setup.py
  function make_cuda_ext (line 12) | def make_cuda_ext(name,

FILE: test/test_dataset/test_nusc_mv_det_dataset.py
  class TestNuscMVDetData (line 54) | class TestNuscMVDetData(unittest.TestCase):
    method test_voxel_pooling (line 56) | def test_voxel_pooling(self):

FILE: test/test_layers/test_backbone.py
  class TestLSSFPN (line 9) | class TestLSSFPN(unittest.TestCase):
    method setUp (line 11) | def setUp(self) -> None:
    method test_forward (line 43) | def test_forward(self):

FILE: test/test_layers/test_head.py
  class TestLSSFPN (line 10) | class TestLSSFPN(unittest.TestCase):
    method setUp (line 12) | def setUp(self) -> None:
    method test_forward (line 102) | def test_forward(self):
    method test_get_targets (line 115) | def test_get_targets(self):
    method test_get_bboxes (line 137) | def test_get_bboxes(self):

FILE: test/test_layers/test_matrixvt.py
  class TestMatrixVT (line 8) | class TestMatrixVT(unittest.TestCase):
    method setUp (line 10) | def setUp(self) -> None:
    method test_forward (line 45) | def test_forward(self):

FILE: test/test_ops/test_voxel_pooling.py
  class TestLSSFPN (line 9) | class TestLSSFPN(unittest.TestCase):
    method test_voxel_pooling (line 13) | def test_voxel_pooling(self):