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[Enhance] Support with_velocity=False in CenterPoint and NuScenesDataset #1469

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merged 6 commits into from
Jun 27, 2022
Merged

[Enhance] Support with_velocity=False in CenterPoint and NuScenesDataset #1469

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76e351a
Release v1.0.0rc2
ZwwWayne May 1, 2022
b9861aa
fixed some bugs of CenterPoint and NuScenesDataset when velocity is i…
YuanxianH May 9, 2022
4e3b7a6
add bbox_code_size attribute for DataBaseSampler & add with_velocity …
YuanxianH May 13, 2022
005205c
add time_dim attribute for
YuanxianH Jun 21, 2022
458216c
update the config of the no velocity version centerpoint
YuanxianH Jun 21, 2022
f027e50
[fix] fix bugs in LoadPointsFromMultiSweeps to pass unit testing
YuanxianH Jun 21, 2022
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[fix] fix bugs in LoadPointsFromMultiSweeps to pass unit testing
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@YuanxianH
YuanxianH committed Jun 21, 2022
commit f027e50b55580ec151eb47a527abb3f1c3ea13d4
1 change: 0 additions & 1 deletion mmdet3d/datasets/pipelines/loading.py
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Original file line number Diff line number Diff line change
@@ -233,7 +233,6 @@ def __call__(self, results):
'sensor2lidar_rotation'].T
points_sweep[:, :3] += sweep['sensor2lidar_translation']
points_sweep[:, self.time_dim] = ts - sweep_ts
points_sweep = points_sweep[:, self.use_dim]
points_sweep = points.new_point(points_sweep)
sweep_points_list.append(points_sweep)