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Commit d1f7d1ad authored by Yezhen Cong's avatar Yezhen Cong Committed by Tai-Wang
Browse files

Fix centerpoint tta (#892)

parent 7b1bda2d
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Showing with 6 additions and 4 deletions
configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py
View file @ d1f7d1ad
_base_ = './centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py' _base_ = './centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py'
model = dict(test_cfg=dict(pts=dict(use_rotate_nms=True, max_num=500)))
point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0] point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
file_client_args = dict(backend='disk') file_client_args = dict(backend='disk')
class_names = [ class_names = [
......
mmdet3d/models/detectors/centerpoint.py
View file @ d1f7d1ad
...@@ -122,8 +122,8 @@ class CenterPoint(MVXTwoStageDetector): ...@@ -122,8 +122,8 @@ class CenterPoint(MVXTwoStageDetector):
task_id][0][key][:, 1, ...] task_id][0][key][:, 1, ...]
elif key == 'rot': elif key == 'rot':
outs[task_id][0][ outs[task_id][0][
key][:, 1, key][:, 0,
...] = -outs[task_id][0][key][:, 1, ...] ...] = -outs[task_id][0][key][:, 0, ...]
elif key == 'vel': elif key == 'vel':
outs[task_id][0][ outs[task_id][0][
key][:, 1, key][:, 1,
...@@ -136,8 +136,8 @@ class CenterPoint(MVXTwoStageDetector): ...@@ -136,8 +136,8 @@ class CenterPoint(MVXTwoStageDetector):
task_id][0][key][:, 0, ...] task_id][0][key][:, 0, ...]
elif key == 'rot': elif key == 'rot':
outs[task_id][0][ outs[task_id][0][
key][:, 0, key][:, 1,
...] = -outs[task_id][0][key][:, 0, ...] ...] = -outs[task_id][0][key][:, 1, ...]
elif key == 'vel': elif key == 'vel':
outs[task_id][0][ outs[task_id][0][
key][:, 0, key][:, 0,
......
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