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Unverified Commit f5a5103a authored by xiliu8006's avatar xiliu8006 Committed by GitHub
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[Fixed] Fix 3DSSD AOS low scores (#516) 

* fix error direction

* fix aos bug in get_bboxes
parent 70548782
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mmdet3d/models/dense_heads/ssd_3d_head.py
View file @ f5a5103a
import numpy as np
import torch import torch
from mmcv.ops.nms import batched_nms from mmcv.ops.nms import batched_nms
from mmcv.runner import force_fp32 from mmcv.runner import force_fp32
...@@ -460,6 +461,9 @@ class SSD3DHead(VoteHead): ...@@ -460,6 +461,9 @@ class SSD3DHead(VoteHead):
bbox_selected, score_selected, labels = self.multiclass_nms_single( bbox_selected, score_selected, labels = self.multiclass_nms_single(
obj_scores[b], sem_scores[b], bbox3d[b], points[b, ..., :3], obj_scores[b], sem_scores[b], bbox3d[b], points[b, ..., :3],
input_metas[b]) input_metas[b])
# fix the wrong direction
# To do: remove this ops
bbox_selected[..., 6] += np.pi
bbox = input_metas[b]['box_type_3d']( bbox = input_metas[b]['box_type_3d'](
bbox_selected.clone(), bbox_selected.clone(),
box_dim=bbox_selected.shape[-1], box_dim=bbox_selected.shape[-1],
......
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