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[Fix] fix pointpillars bug on kitti in master branch #1163

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merged 2 commits into from
Feb 9, 2022
Merged

[Fix] fix pointpillars bug on kitti in master branch #1163

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fe1f70c
fix pointpillars bug on kitti in master branch
ZCMax Jan 10, 2022
ac2fdb2
replace with AlignedAnchorGenerator
ZCMax Feb 9, 2022
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8 changes: 4 additions & 4 deletions configs/_base_/models/hv_pointpillars_secfpn_kitti.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,11 @@
feat_channels=384,
use_direction_classifier=True,
anchor_generator=dict(
type='Anchor3DRangeGenerator',
type='AlignedAnchor3DRangeGenerator',
ranges=[
[0, -39.68, -0.6, 70.4, 39.68, -0.6],
[0, -39.68, -0.6, 70.4, 39.68, -0.6],
[0, -39.68, -1.78, 70.4, 39.68, -1.78],
[0, -39.68, -0.6, 69.12, 39.68, -0.6],
[0, -39.68, -0.6, 69.12, 39.68, -0.6],
[0, -39.68, -1.78, 69.12, 39.68, -1.78],
],
sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
rotations=[0, 1.57],
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7 changes: 5 additions & 2 deletions mmdet3d/datasets/kitti_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -151,12 +151,14 @@ def get_ann_info(self, index):
- gt_bboxes (np.ndarray): 2D ground truth bboxes.
- gt_labels (np.ndarray): Labels of ground truths.
- gt_names (list[str]): Class names of ground truths.
- difficulty (int): kitti difficulty.
"""
# Use index to get the annos, thus the evalhook could also use this api
info = self.data_infos[index]
rect = info['calib']['R0_rect'].astype(np.float32)
Trv2c = info['calib']['Tr_velo_to_cam'].astype(np.float32)

difficulty = info['annos']['difficulty']
annos = info['annos']
# we need other objects to avoid collision when sample
annos = self.remove_dontcare(annos)
Expand Down Expand Up @@ -190,7 +192,8 @@ def get_ann_info(self, index):
gt_labels_3d=gt_labels_3d,
bboxes=gt_bboxes,
labels=gt_labels,
gt_names=gt_names)
gt_names=gt_names,
difficulty=difficulty)
return anns_results

def drop_arrays_by_name(self, gt_names, used_classes):
Expand Down Expand Up @@ -314,7 +317,7 @@ def evaluate(self,
pklfile_prefix (str | None): The prefix of pkl files. It includes
the file path and the prefix of filename, e.g., "a/b/prefix".
If not specified, a temp file will be created. Default: None.
submission_prefix (str | None): The prefix of submission datas.
submission_prefix (str | None): The prefix of submission data.
If not specified, the submission data will not be generated.
show (bool): Whether to visualize.
Default: False.
Expand Down