Fix centerpoint tta (#892)

open-mmlab · Aug 30, 2021 · 0eb7e71 · 0eb7e71
1 parent 93de7c2
commit 0eb7e71
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py b/configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py
@@ -1,5 +1,7 @@
 _base_ = './centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py'
 
+model = dict(test_cfg=dict(pts=dict(use_rotate_nms=True, max_num=500)))
+
 point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
 file_client_args = dict(backend='disk')
 class_names = [

diff --git a/mmdet3d/models/detectors/centerpoint.py b/mmdet3d/models/detectors/centerpoint.py
@@ -122,8 +122,8 @@ def aug_test_pts(self, feats, img_metas, rescale=False):
  task_id][0][key][:, 1, ...]
  elif key == 'rot':
  outs[task_id][0][
- key][:, 1,
- ...] = -outs[task_id][0][key][:, 1, ...]
+ key][:, 0,
+ ...] = -outs[task_id][0][key][:, 0, ...]
  elif key == 'vel':
  outs[task_id][0][
  key][:, 1,
@@ -136,8 +136,8 @@ def aug_test_pts(self, feats, img_metas, rescale=False):
  task_id][0][key][:, 0, ...]
  elif key == 'rot':
  outs[task_id][0][
- key][:, 0,
- ...] = -outs[task_id][0][key][:, 0, ...]
+ key][:, 1,
+ ...] = -outs[task_id][0][key][:, 1, ...]
  elif key == 'vel':
  outs[task_id][0][
  key][:, 0,