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Commit f93948af authored by Shaoshuai Shi's avatar Shaoshuai Shi
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bugfixed: DO NOT encode angle by sin when using cossin angle encoding

parent ba28c08f
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Showing with 5 additions and 2 deletions
pcdet/models/dense_heads/anchor_head_multi.py
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...@@ -342,8 +342,11 @@ class AnchorHeadMulti(AnchorHeadTemplate): ...@@ -342,8 +342,11 @@ class AnchorHeadMulti(AnchorHeadTemplate):
box_reg_target = box_reg_targets[:, start_idx:start_idx + box_pred.shape[1]] box_reg_target = box_reg_targets[:, start_idx:start_idx + box_pred.shape[1]]
reg_weight = reg_weights[:, start_idx:start_idx + box_pred.shape[1]] reg_weight = reg_weights[:, start_idx:start_idx + box_pred.shape[1]]
# sin(a - b) = sinacosb-cosasinb # sin(a - b) = sinacosb-cosasinb
box_pred_sin, reg_target_sin = self.add_sin_difference(box_pred, box_reg_target) if box_dir_cls_preds is not None:
loc_loss_src = self.reg_loss_func(box_pred_sin, reg_target_sin, weights=reg_weight) # [N, M] box_pred_sin, reg_target_sin = self.add_sin_difference(box_pred, box_reg_target)
loc_loss_src = self.reg_loss_func(box_pred_sin, reg_target_sin, weights=reg_weight) # [N, M]
else:
loc_loss_src = self.reg_loss_func(box_pred, box_reg_target, weights=reg_weight) # [N, M]
loc_loss = loc_loss_src.sum() / batch_size loc_loss = loc_loss_src.sum() / batch_size
loc_loss = loc_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['loc_weight'] loc_loss = loc_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['loc_weight']
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