bugfixed: run nuscene testing with velocity

pcdet/models/detectors/detector3d_template.py

@@ -251,14 +251,14 @@ class Detector3DTemplate(nn.Module):
             k -= 1
         cur_gt = cur_gt[:k + 1]
 
-        if cur_gt.sum() > 0:
+        if cur_gt.shape[0] > 0:
             if box_preds.shape[0] > 0:
-                iou3d_rcnn = iou3d_nms_utils.boxes_iou3d_gpu(box_preds, cur_gt[:, 0:7])
+                iou3d_rcnn = iou3d_nms_utils.boxes_iou3d_gpu(box_preds[:, 0:7], cur_gt[:, 0:7])
             else:
                 iou3d_rcnn = torch.zeros((0, cur_gt.shape[0]))
 
             if rois is not None:
-                iou3d_roi = iou3d_nms_utils.boxes_iou3d_gpu(rois, cur_gt[:, 0:7])
+                iou3d_roi = iou3d_nms_utils.boxes_iou3d_gpu(rois[:, 0:7], cur_gt[:, 0:7])
 
             for cur_thresh in thresh_list:
                 if iou3d_rcnn.shape[0] == 0:

pcdet/models/model_utils/model_nms_utils.py

@@ -14,7 +14,7 @@ def class_agnostic_nms(box_scores, box_preds, nms_config, score_thresh=None):
         box_scores_nms, indices = torch.topk(box_scores, k=min(nms_config.NMS_PRE_MAXSIZE, box_scores.shape[0]))
         boxes_for_nms = box_preds[indices]
         keep_idx, selected_scores = getattr(iou3d_nms_utils, nms_config.NMS_TYPE)(
-            boxes_for_nms, box_scores_nms, nms_config.NMS_THRESH, **nms_config
+                boxes_for_nms[:, 0:7], box_scores_nms, nms_config.NMS_THRESH, **nms_config
         )
         selected = indices[keep_idx[:nms_config.NMS_POST_MAXSIZE]]
 

tools/cfgs/dataset_configs/nuscenes_dataset.yaml

@@ -18,34 +18,36 @@ INFO_PATH: {
 POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
 
 DATA_AUGMENTOR:
-    - NAME: gt_sampling
-      DB_INFO_PATH:
-          - nuscenes_dbinfos_10sweeps_withvelo.pkl
-      PREPARE: {
-         filter_by_min_points: [
-             'car:5','truck:5', 'construction_vehicle:5', 'bus:5', 'trailer:5',
-             'barrier:5', 'motorcycle:5', 'bicycle:5', 'pedestrian:5', 'traffic_cone:5'
-         ],
-      }
-
-      SAMPLE_GROUPS: [
-          'car:2','truck:3', 'construction_vehicle:7', 'bus:4', 'trailer:6',
-          'barrier:2', 'motorcycle:6', 'bicycle:6', 'pedestrian:2', 'traffic_cone:2'
-      ]
-
-      NUM_POINT_FEATURES: 5
-      DATABASE_WITH_FAKELIDAR: False
-      REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
-      LIMIT_WHOLE_SCENE: True
-
-    - NAME: random_world_flip
-      ALONG_AXIS_LIST: ['x', 'y']
-
-    - NAME: random_world_rotation
-      WORLD_ROT_ANGLE: [-0.3925, 0.3925]
-
-    - NAME: random_world_scaling
-      WORLD_SCALE_RANGE: [0.95, 1.05]
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+        - NAME: gt_sampling
+          DB_INFO_PATH:
+              - nuscenes_dbinfos_10sweeps_withvelo.pkl
+          PREPARE: {
+             filter_by_min_points: [
+                 'car:5','truck:5', 'construction_vehicle:5', 'bus:5', 'trailer:5',
+                 'barrier:5', 'motorcycle:5', 'bicycle:5', 'pedestrian:5', 'traffic_cone:5'
+             ],
+          }
+
+          SAMPLE_GROUPS: [
+              'car:2','truck:3', 'construction_vehicle:7', 'bus:4', 'trailer:6',
+              'barrier:2', 'motorcycle:6', 'bicycle:6', 'pedestrian:2', 'traffic_cone:2'
+          ]
+
+          NUM_POINT_FEATURES: 5
+          DATABASE_WITH_FAKELIDAR: False
+          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+          LIMIT_WHOLE_SCENE: True
+
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: ['x', 'y']
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [-0.3925, 0.3925]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [0.95, 1.05]
 
 
 POINT_FEATURE_ENCODING: {

tools/cfgs/nuscenes_models/second_multihead.yaml

@@ -222,7 +222,7 @@ MODEL:
             NMS_TYPE: nms_gpu
             NMS_THRESH: 0.2
             NMS_PRE_MAXSIZE: 4096
-            NMS_POST_MAXSIZE: 500
+            NMS_POST_MAXSIZE: 250 
 
 
 OPTIMIZATION: