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

@@ -18,6 +18,8 @@ INFO_PATH: {
 POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
 
 DATA_AUGMENTOR:
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
         - NAME: gt_sampling
           DB_INFO_PATH:
               - nuscenes_dbinfos_10sweeps_withvelo.pkl

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: