Package: torchdrive
# ![torchdrive](media/torchdrive.svg)A PyTorch library for training BEV style perception models for self driving
tasks. This is unaffiliated with the PyTorch project. This currently includes
helpful primitives needed to put together a model.## Install from Source` $ pip installgit+https://github.com/d4l3k/torchdrive.git`or` $ git clone--recursivehttps://github.com/d4l3k/torchdrive.git$ cd torchdrive $ pip install-e. `## BackgroundI’ve been documenting the process for this code. Please see my blog athttps://fn.lc/post/3d-detr/for more details.### 3D Object Detection3D bounding boxes and velocities for dynamic objects such as cars.![](media/det.png)### Voxel OccupancyGrids of occupancy around the vehicle trained with differential rendering.![](media/voxel-highway-cars.png)### BEV Lane Lines and Drivable SpaceLane line and drivable space trained purely from image space labels.![](media/mesh-semantic.png)### Semantic VoxelPer voxel semantic labels for static objects.![](media/voxel-semantic.png)## Data AccessThe training dataset for this repo has been collected from my car and thus has
lots of personally identifying information so I’m not willing to make it public
at this time. If you’re interested in contributing or collaborating feel free to
reach out. I’m happy to test changes on my own hardware and there may be other
options too.## ContactIf you have any questions or concerns, please reach out to me either by filing
an issue or emailing me at [rice@fn.lc](mailto:rice@fn.lc).## LicenseThis project is a hobby project and done in my free time. This is non-commercial
and no profit has been made from this work.See the [LICENSE](LICENSE) file for more information. Some files and functions
have different licenses and are marked accordingly.BSD 3-Clause LicenseCopyright (c) 2023, Tristan RiceRedistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:Redistributions of source code must retain the above copyright notice, this
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