Default setting: DO NOT mask the gt_boxes that are outside the range of Z-axis

pcdet/datasets/processor/data_processor.py

@@ -85,7 +85,8 @@ class DataProcessor(object):
 
         if data_dict.get('gt_boxes', None) is not None and config.REMOVE_OUTSIDE_BOXES and self.training:
             mask = box_utils.mask_boxes_outside_range_numpy(
-                data_dict['gt_boxes'], self.point_cloud_range, min_num_corners=config.get('min_num_corners', 1)
+                data_dict['gt_boxes'], self.point_cloud_range, min_num_corners=config.get('min_num_corners', 1), 
+                filter_z=config.get('FILTER_Z', False)
             )
             data_dict['gt_boxes'] = data_dict['gt_boxes'][mask]
         return data_dict

pcdet/utils/box_utils.py

@@ -90,7 +90,7 @@ def corners_rect_to_camera(corners):
     return camera_rect
 
 
-def mask_boxes_outside_range_numpy(boxes, limit_range, min_num_corners=1):
+def mask_boxes_outside_range_numpy(boxes, limit_range, min_num_corners=1, filter_z=True):
     """
     Args:
         boxes: (N, 7) [x, y, z, dx, dy, dz, heading, ...], (x, y, z) is the box center
@@ -103,7 +103,11 @@ def mask_boxes_outside_range_numpy(boxes, limit_range, min_num_corners=1):
     if boxes.shape[1] > 7:
         boxes = boxes[:, 0:7]
     corners = boxes_to_corners_3d(boxes)  # (N, 8, 3)
-    mask = ((corners >= limit_range[0:3]) & (corners <= limit_range[3:6])).all(axis=2)
+    if filter_z:
+        mask = ((corners >= limit_range[0:3]) & (corners <= limit_range[3:6])).all(axis=2)
+    else:
+        corners = corners[:, :, 0:2]
+        mask = ((corners >= limit_range[0:2]) & (corners <= limit_range[3:5])).all(axis=2)
     mask = mask.sum(axis=1) >= min_num_corners  # (N)
 
     return mask

tools/cfgs/dataset_configs/waymo_dataset.yaml

@@ -62,6 +62,7 @@ POINT_FEATURE_ENCODING: {
 DATA_PROCESSOR:
     - NAME: mask_points_and_boxes_outside_range
       REMOVE_OUTSIDE_BOXES: True
+      FILTER_Z: False
 
     - NAME: shuffle_points
       SHUFFLE_ENABLED: {