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Commit 8f4ec1e3 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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bugfixed: indice_key in VoxelResBackBone8x

parent e0609869
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Showing with 4 additions and 4 deletions
pcdet/models/backbones_3d/spconv_backbone.py
View file @ 8f4ec1e3
...@@ -199,8 +199,8 @@ class VoxelResBackBone8x(nn.Module): ...@@ -199,8 +199,8 @@ class VoxelResBackBone8x(nn.Module):
self.conv4 = spconv.SparseSequential( self.conv4 = spconv.SparseSequential(
# [400, 352, 11] <- [200, 176, 5] # [400, 352, 11] <- [200, 176, 5]
block(64, 128, 3, norm_fn=norm_fn, stride=2, padding=(0, 1, 1), indice_key='spconv4', conv_type='spconv'), block(64, 128, 3, norm_fn=norm_fn, stride=2, padding=(0, 1, 1), indice_key='spconv4', conv_type='spconv'),
SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res3'), SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res4'),
SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res3'), SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res4'),
) )
last_pad = 0 last_pad = 0
......
tools/cfgs/nuscenes_models/second_multihead.yaml
View file @ 8f4ec1e3
...@@ -36,7 +36,7 @@ MODEL: ...@@ -36,7 +36,7 @@ MODEL:
DIR_LIMIT_OFFSET: 0.0 DIR_LIMIT_OFFSET: 0.0
NUM_DIR_BINS: 2 NUM_DIR_BINS: 2
USE_MULTI_HEAD: True USE_MULTIHEAD: True
ANCHOR_GENERATOR_CONFIG: [ ANCHOR_GENERATOR_CONFIG: [
{ {
'class_name': car, 'class_name': car,
...@@ -227,7 +227,7 @@ MODEL: ...@@ -227,7 +227,7 @@ MODEL:
OPTIMIZATION: OPTIMIZATION:
OPTIMIZER: adam_onecycle OPTIMIZER: adam_onecycle
LR: 0.003 LR: 0.003
WEIGHT_DECAY: 0.01 WEIGHT_DECAY: 0.01
MOMENTUM: 0.9 MOMENTUM: 0.9
......
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