【Hackathon4 No.168】Add gupnet implementation

configs/gupnet/gupnet_dla34_kitti.yml

@@ -0,0 +1,52 @@
+batch_size: 32
+epochs: 140
+
+train_dataset:
+  type: GUPKittiMonoDataset
+  dataset_root: /root/kitti
+  use_3d_center: True
+  class_name: ['Pedestrian', 'Car', 'Cyclist']
+  resolution: [1280, 384]
+  random_flip: 0.5
+  random_crop: 0.5
+  scale: 0.4
+  shift: 0.1
+  mode: train
+
+val_dataset:
+  type: GUPKittiMonoDataset
+  dataset_root: /root/kitti
+  use_3d_center: True
+  class_name: ['Pedestrian', 'Car', 'Cyclist']
+  resolution: [1280, 384]
+  random_flip: 0.5
+  random_crop: 0.5
+  scale: 0.4
+  shift: 0.1
+  mode: val
+
+optimizer:
+  type: Adam
+  weight_decay: 0.00001
+
+lr_scheduler:
+  type: CosineWarmupMultiStepDecayByEpoch
+  warmup_steps: 5
+  learning_rate: 0.00125
+  milestones: [90, 120]
+  decay_rate: 0.1
+  start_lr: 0.00001
+
+model:
+  type: GUPNET
+  backbone:
+    type: GUP_DLA34
+    down_ratio: 4
+    pretrained: ./checkpoint_root/dla34-ba72cf86_paddle_new.pdparams
+  head:
+    type: GUPNETPredictor
+    head_conv: 256
+  threshold: 0.2
+  stat_epoch_nums: 5
+  max_epoch: 140
+  train_datasets_length: 3712

paddle3d/datasets/__init__.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from .base import BaseDataset
-from .kitti import KittiDepthDataset, KittiMonoDataset, KittiPCDataset
+from .kitti import KittiDepthDataset, KittiMonoDataset, KittiPCDataset, GUPKittiMonoDataset
 from .modelnet40 import ModelNet40
 from .nuscenes import NuscenesMVDataset, NuscenesPCDataset, NuscenesMVSegDataset
 from .waymo import WaymoPCDataset

paddle3d/datasets/kitti/__init__.py

@@ -15,3 +15,4 @@
 from .kitti_depth_det import KittiDepthDataset
 from .kitti_mono_det import KittiMonoDataset
 from .kitti_pointcloud_det import KittiPCDataset
+from .kitti_gupnet import GUPKittiMonoDataset