add model download link

open-mmlab · Jun 6, 2021 · 771d9e8 · 771d9e8
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diff --git a/configs/3dssd/3dssd_kitti-3d-car.py → configs/3dssd/3dssd_4x4_kitti-3d-car.py b/configs/3dssd/3dssd_kitti-3d-car.py → configs/3dssd/3dssd_4x4_kitti-3d-car.py
diff --git a/configs/3dssd/README.md b/configs/3dssd/README.md
@@ -29,6 +29,6 @@ Some settings in our implementation are different from the [official implementat
 
 | Backbone |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP |Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-| [PointNet2SAMSG](./3dssd_kitti-3d-car.py)| Car |72e|4.7||78.69(81.27)<sup>1</sup>|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002-07e9a19b.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002.log.json)|
+| [PointNet2SAMSG](./3dssd_kitti-3d-car.py)| Car |72e|4.7||78.69(81.27)<sup>1</sup>|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438-b4276f56.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438.log.json)|
 
 [1]: We report two different 3D object detection performance here. 78.69mAP is evaluated by our evaluation code and 81.27mAP is evaluated by the official development kit （so as that used in the paper and official code of 3DSSD ）. We found that the commonly used Python implementation of [`rotate_iou`](https://github.com/traveller59/second.pytorch/blob/e42e4a0e17262ab7d180ee96a0a36427f2c20a44/second/core/non_max_suppression/nms_gpu.py#L605) which is used in our KITTI dataset evaluation, is different from the official implemention in [KITTI benchmark](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d).
diff --git a/configs/3dssd/metafile.yml b/configs/3dssd/metafile.yml
@@ -20,5 +20,5 @@ Models:
  - Task: 3D Object Detection
  Dataset: KITTI
  Metrics:
- mAP: 78.39
- Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210324_122002-07e9a19b.pth
+ mAP: 78.69
+ Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/3dssd/3dssd_kitti-3d-car_20210602_124438-b4276f56.pth
diff --git a/mmdet3d/datasets/pipelines/transforms_3d.py b/mmdet3d/datasets/pipelines/transforms_3d.py
@@ -1127,8 +1127,10 @@ def __call__(self, input_dict):
  points = input_dict['points']
  gt_bboxes_3d = input_dict['gt_bboxes_3d']
 
+ # avoid groundtruth being modified
  gt_bboxes_3d_np = gt_bboxes_3d.tensor.clone().numpy()
  gt_bboxes_3d_np[:, :3] = gt_bboxes_3d.gravity_center.clone().numpy()
+
  enlarged_gt_bboxes_3d = gt_bboxes_3d_np.copy()
  enlarged_gt_bboxes_3d[:, 3:6] += self.bbox_enlarge_range
  points_numpy = points.tensor.clone().numpy()