[Fix]: fix image pad shape bug in PointFusion (#162)

mmdet3d/models/detectors/mvx_two_stage.py

@@ -170,7 +170,12 @@ class MVXTwoStageDetector(Base3DDetector):
 
     def extract_img_feat(self, img, img_metas):
         """Extract features of images."""
-        if self.with_img_backbone:
+        if self.with_img_backbone and img is not None:
+            input_shape = img.shape[-2:]
+            # update real input shape of each single img
+            for img_meta in img_metas:
+                img_meta.update(input_shape=input_shape)
+
             if img.dim() == 5 and img.size(0) == 1:
                 img.squeeze_()
             elif img.dim() == 5 and img.size(0) > 1:

mmdet3d/models/fusion_layers/point_fusion.py

@@ -277,9 +277,6 @@ class PointFusion(nn.Module):
         for i in range(len(img_metas)):
             mlvl_img_feats = []
             for level in range(len(self.img_levels)):
-                if torch.isnan(img_ins[level][i:i + 1]).any():
-                    import pdb
-                    pdb.set_trace()
                 mlvl_img_feats.append(
                     self.sample_single(img_ins[level][i:i + 1], pts[i][:, :3],
                                        img_metas[i]))
@@ -330,7 +327,7 @@ class PointFusion(nn.Module):
             pcd_scale_factor,
             pcd_flip=pcd_flip,
             img_flip=img_flip,
-            img_pad_shape=img_meta['pad_shape'][:2],
+            img_pad_shape=img_meta['input_shape'][:2],
             img_shape=img_meta['img_shape'][:2],
             aligned=self.aligned,
             padding_mode=self.padding_mode,