Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Jump to bottom

[Fix] Fix DynamicPillarFeaureNet incorrect index caused by modifications of PillarFeatureNet #1302

Merged
merged 2 commits into from
Mar 23, 2022
Merged

[Fix] Fix DynamicPillarFeaureNet incorrect index caused by modifications of PillarFeatureNet #1302

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d2485f2
fix dv
Xiangxu-0103 Mar 10, 2022
8d20323
Update __init__.py
Xiangxu-0103 Mar 10, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions mmdet3d/models/voxel_encoders/__init__.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
# Copyright (c) OpenMMLab. All rights reserved.
from .pillar_encoder import PillarFeatureNet
from .pillar_encoder import DynamicPillarFeatureNet, PillarFeatureNet
from .voxel_encoder import DynamicSimpleVFE, DynamicVFE, HardSimpleVFE, HardVFE

__all__ = [
'PillarFeatureNet', 'HardVFE', 'DynamicVFE', 'HardSimpleVFE',
'DynamicSimpleVFE'
'PillarFeatureNet', 'DynamicPillarFeatureNet', 'HardVFE', 'DynamicVFE',
'HardSimpleVFE', 'DynamicSimpleVFE'
]
8 changes: 6 additions & 2 deletions mmdet3d/models/voxel_encoders/pillar_encoder.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ class PillarFeatureNet(nn.Module):

The network prepares the pillar features and performs forward pass
through PFNLayers.

Args:
in_channels (int, optional): Number of input features,
either x, y, z or x, y, z, r. Defaults to 4.
Expand Down Expand Up @@ -98,6 +99,7 @@ def forward(self, features, num_points, coors):
(N, M, C).
num_points (torch.Tensor): Number of points in each pillar.
coors (torch.Tensor): Coordinates of each voxel.

Returns:
torch.Tensor: Features of pillars.
"""
Expand Down Expand Up @@ -237,7 +239,7 @@ def map_voxel_center_to_point(self, pts_coors, voxel_mean, voxel_coors):
Args:
pts_coors (torch.Tensor): The coordinates of each points, shape
(M, 3), where M is the number of points.
voxel_mean (torch.Tensor): The mean or aggreagated features of a
voxel_mean (torch.Tensor): The mean or aggregated features of a
voxel, shape (N, C), where N is the number of voxels.
voxel_coors (torch.Tensor): The coordinates of each voxel.

Expand Down Expand Up @@ -294,11 +296,13 @@ def forward(self, features, coors):

# Find distance of x, y, and z from pillar center
if self._with_voxel_center:
f_center = features.new_zeros(size=(features.size(0), 2))
f_center = features.new_zeros(size=(features.size(0), 3))
f_center[:, 0] = features[:, 0] - (
coors[:, 3].type_as(features) * self.vx + self.x_offset)
f_center[:, 1] = features[:, 1] - (
coors[:, 2].type_as(features) * self.vy + self.y_offset)
f_center[:, 2] = features[:, 2] - (
coors[:, 1].type_as(features) * self.vz + self.z_offset)
features_ls.append(f_center)

if self._with_distance:
Expand Down