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[Fix] Fix bg point filter #609

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merged 5 commits into from
Jun 6, 2021
Merged

[Fix] Fix bg point filter #609

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57ea75e
fix bg_points_filter
xiliu8006 Jun 1, 2021
8ebda20
fix 3dssd bg_point_filter bug
xiliu8006 Jun 1, 2021
a586e5a
fix bg_filter bug in 3dssd
xiliu8006 Jun 2, 2021
e73bd95
update performance
xiliu8006 Jun 4, 2021
771d9e8
add model download link
xiliu8006 Jun 6, 2021
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4 changes: 2 additions & 2 deletions configs/3dssd/3dssd_kitti-3d-car.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,9 +106,9 @@
lr = 0.002 # max learning rate
optimizer = dict(type='AdamW', lr=lr, weight_decay=0)
optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2))
lr_config = dict(policy='step', warmup=None, step=[80, 120])
lr_config = dict(policy='step', warmup=None, step=[45, 60])
# runtime settings
runner = dict(type='EpochBasedRunner', max_epochs=150)
runner = dict(type='EpochBasedRunner', max_epochs=80)

# yapf:disable
log_config = dict(
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6 changes: 3 additions & 3 deletions mmdet3d/datasets/pipelines/transforms_3d.py
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Expand Up @@ -1127,11 +1127,11 @@ def __call__(self, input_dict):
points = input_dict['points']
gt_bboxes_3d = input_dict['gt_bboxes_3d']

gt_bboxes_3d_np = gt_bboxes_3d.tensor.numpy()
gt_bboxes_3d_np[:, :3] = gt_bboxes_3d.gravity_center.numpy()
gt_bboxes_3d_np = gt_bboxes_3d.tensor.clone().numpy()
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gt_bboxes_3d_np[:, :3] = gt_bboxes_3d.gravity_center.clone().numpy()
enlarged_gt_bboxes_3d = gt_bboxes_3d_np.copy()
enlarged_gt_bboxes_3d[:, 3:6] += self.bbox_enlarge_range
points_numpy = points.tensor.numpy()
points_numpy = points.tensor.clone().numpy()
foreground_masks = box_np_ops.points_in_rbbox(points_numpy,
gt_bboxes_3d_np)
enlarge_foreground_masks = box_np_ops.points_in_rbbox(
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2 changes: 1 addition & 1 deletion mmdet3d/models/dense_heads/ssd_3d_head.py
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Expand Up @@ -491,7 +491,7 @@ def multiclass_nms_single(self, obj_scores, sem_scores, bbox, points,
bbox.clone(),
box_dim=bbox.shape[-1],
with_yaw=self.bbox_coder.with_rot,
origin=(0.5, 0.5, 1.0))
origin=(0.5, 0.5, 0.5))

if isinstance(bbox, LiDARInstance3DBoxes):
box_idx = bbox.points_in_boxes(points)
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