[#406] - replace 'break' with 'continue' to avoid missing of points when creating voxels (#423)

mmdet3d/core/voxel/voxel_generator.py

@@ -196,7 +196,7 @@ def _points_to_voxel_reverse_kernel(points,
         if voxelidx == -1:
             voxelidx = voxel_num
             if voxel_num >= max_voxels:
-                break
+                continue
             voxel_num += 1
             coor_to_voxelidx[coor[0], coor[1], coor[2]] = voxelidx
             coors[voxelidx] = coor
@@ -268,7 +268,7 @@ def _points_to_voxel_kernel(points,
         if voxelidx == -1:
             voxelidx = voxel_num
             if voxel_num >= max_voxels:
-                break
+                continue
             voxel_num += 1
             coor_to_voxelidx[coor[0], coor[1], coor[2]] = voxelidx
             coors[voxelidx] = coor

mmdet3d/ops/spconv/include/spconv/point2voxel.h

@@ -70,7 +70,7 @@ int points_to_voxel_3d_np(py::array_t<DType> points, py::array_t<DType> voxels,
     voxelidx = coor_to_voxelidx_rw(coor[0], coor[1], coor[2]);
     if (voxelidx == -1) {
       voxelidx = voxel_num;
-      if (voxel_num >= max_voxels) break;
+      if (voxel_num >= max_voxels) continue;
       voxel_num += 1;
       coor_to_voxelidx_rw(coor[0], coor[1], coor[2]) = voxelidx;
       for (int k = 0; k < NDim; ++k) {
@@ -134,7 +134,7 @@ int points_to_voxel_3d_np_mean(py::array_t<DType> points,
     voxelidx = coor_to_voxelidx_rw(coor[0], coor[1], coor[2]);
     if (voxelidx == -1) {
       voxelidx = voxel_num;
-      if (voxel_num >= max_voxels) break;
+      if (voxel_num >= max_voxels) continue;
       voxel_num += 1;
       coor_to_voxelidx_rw(coor[0], coor[1], coor[2]) = voxelidx;
       for (int k = 0; k < NDim; ++k) {
@@ -207,7 +207,7 @@ int points_to_voxel_3d_np_height(
     voxelidx = coor_to_voxelidx_rw(coor[0], coor[1], coor[2]);
     if (voxelidx == -1) {
       voxelidx = voxel_num;
-      if (voxel_num >= max_voxels) break;
+      if (voxel_num >= max_voxels) continue;
       voxel_num += 1;
       coor_to_voxelidx_rw(coor[0], coor[1], coor[2]) = voxelidx;
       for (int k = 0; k < NDim; ++k) {
@@ -347,7 +347,7 @@ int points_to_voxel_3d_with_filtering(
     voxelidx = coor_to_voxelidx_rw(coor[0], coor[1], coor[2]);
     if (voxelidx == -1) {
       voxelidx = voxel_num;
-      if (voxel_num >= max_voxels) break;
+      if (voxel_num >= max_voxels) continue;
       voxel_num += 1;
       coor_to_voxelidx_rw(coor[0], coor[1], coor[2]) = voxelidx;
       for (int k = 0; k < NDim; ++k) {

mmdet3d/ops/voxel/src/voxelization_cpu.cpp

@@ -75,7 +75,7 @@ void hard_voxelize_kernel(const torch::TensorAccessor<T, 2> points,
     // record voxel
     if (voxelidx == -1) {
       voxelidx = voxel_num;
-      if (max_voxels != -1 && voxel_num >= max_voxels) break;
+      if (max_voxels != -1 && voxel_num >= max_voxels) continue;
       voxel_num += 1;
 
       coor_to_voxelidx[coor[i][0]][coor[i][1]][coor[i][2]] = voxelidx;

mmdet3d/ops/voxel/src/voxelization_cuda.cu

@@ -164,7 +164,7 @@ __global__ void determin_voxel_num(
     } else if (point_pos_in_voxel == 0) {
       // record new voxel
       int voxelidx = voxel_num[0];
-      if (voxel_num[0] >= max_voxels) break;
+      if (voxel_num[0] >= max_voxels) continue;
       voxel_num[0] += 1;
       coor_to_voxelidx[i] = voxelidx;
       num_points_per_voxel[voxelidx] = 1;