bugfixed: support gt_sampling with empty scenes, add logger without log_file (#119)

* bugfixed: support gt_sampling with empty scenes, add logger without log_file

pcdet/datasets/augmentor/database_sampler.py

@@ -179,9 +179,10 @@ class DataBaseSampler(object):
                 if self.sampler_cfg.get('DATABASE_WITH_FAKELIDAR', False):
                     sampled_boxes = box_utils.boxes3d_kitti_fakelidar_to_lidar(sampled_boxes)
 
-                iou1 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes, existed_boxes)
-                iou2 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes, sampled_boxes)
+                iou1 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes[:, 0:7], existed_boxes[:, 0:7])
+                iou2 = iou3d_nms_utils.boxes_bev_iou_cpu(sampled_boxes[:, 0:7], sampled_boxes[:, 0:7])
                 iou2[range(sampled_boxes.shape[0]), range(sampled_boxes.shape[0])] = 0
+                iou1 = iou1 if iou1.shape[1] > 0 else iou2
                 valid_mask = ((iou1.max(axis=1) + iou2.max(axis=1)) == 0).nonzero()[0]
                 valid_sampled_dict = [sampled_dict[x] for x in valid_mask]
                 valid_sampled_boxes = sampled_boxes[valid_mask]

pcdet/datasets/dataset.py

@@ -17,7 +17,7 @@ class DatasetTemplate(torch_data.Dataset):
         self.logger = logger
         self.root_path = root_path if root_path is not None else Path(self.dataset_cfg.DATA_PATH)
         self.logger = logger
-        if self.dataset_cfg is None:
+        if self.dataset_cfg is None or class_names is None:
             return
 
         self.point_cloud_range = np.array(self.dataset_cfg.POINT_CLOUD_RANGE, dtype=np.float32)

pcdet/utils/common_utils.py

@@ -80,18 +80,19 @@ def get_voxel_centers(voxel_coords, downsample_times, voxel_size, point_cloud_ra
     return voxel_centers
 
 
-def create_logger(log_file, rank=0, log_level=logging.INFO):
+def create_logger(log_file=None, rank=0, log_level=logging.INFO):
     logger = logging.getLogger(__name__)
     logger.setLevel(log_level if rank == 0 else 'ERROR')
     formatter = logging.Formatter('%(asctime)s  %(levelname)5s  %(message)s')
     console = logging.StreamHandler()
     console.setLevel(log_level if rank == 0 else 'ERROR')
     console.setFormatter(formatter)
-    file_handler = logging.FileHandler(filename=log_file)
-    file_handler.setLevel(log_level if rank == 0 else 'ERROR')
-    file_handler.setFormatter(formatter)
     logger.addHandler(console)
-    logger.addHandler(file_handler)
+    if log_file is not None:
+        file_handler = logging.FileHandler(filename=log_file)
+        file_handler.setLevel(log_level if rank == 0 else 'ERROR')
+        file_handler.setFormatter(formatter)
+        logger.addHandler(file_handler)
     return logger