39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
from .detector3d_template import Detector3DTemplate
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class CaDDN(Detector3DTemplate):
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def __init__(self, model_cfg, num_class, dataset):
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super().__init__(model_cfg=model_cfg, num_class=num_class, dataset=dataset)
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self.module_list = self.build_networks()
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def forward(self, batch_dict):
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for cur_module in self.module_list:
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batch_dict = cur_module(batch_dict)
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if self.training:
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loss, tb_dict, disp_dict = self.get_training_loss()
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ret_dict = {
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'loss': loss
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}
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return ret_dict, tb_dict, disp_dict
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else:
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pred_dicts, recall_dicts = self.post_processing(batch_dict)
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return pred_dicts, recall_dicts
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def get_training_loss(self):
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disp_dict = {}
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loss_rpn, tb_dict_rpn = self.dense_head.get_loss()
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loss_depth, tb_dict_depth = self.vfe.get_loss()
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tb_dict = {
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'loss_rpn': loss_rpn.item(),
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'loss_depth': loss_depth.item(),
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**tb_dict_rpn,
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**tb_dict_depth
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}
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loss = loss_rpn + loss_depth
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return loss, tb_dict, disp_dict
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