[Fix] fix bugs for 3DSSD triggered by empty GT

mmdet3d/datasets/custom_3d.py

@@ -105,7 +105,7 @@ def get_data_info(self, index):
  if not self.test_mode:
  annos = self.get_ann_info(index)
  input_dict['ann_info'] = annos
- if self.filter_empty_gt and len(annos['gt_bboxes_3d']) == 0:
+ if self.filter_empty_gt and ~(annos['gt_labels_3d'] != -1).any():
  return None
  return input_dict
 
@@ -149,8 +149,9 @@ def prepare_train_data(self, index):
  return None
  self.pre_pipeline(input_dict)
  example = self.pipeline(input_dict)
- if self.filter_empty_gt and (example is None or len(
- example['gt_bboxes_3d']._data) == 0):
+ if self.filter_empty_gt and \
+ (example is None or
+ ~(example['gt_labels_3d']._data != -1).any()):
  return None
  return example
 

mmdet3d/models/dense_heads/ssd_3d_head.py

@@ -335,6 +335,30 @@ def get_targets_single(self,
  valid_gt = gt_labels_3d != -1
  gt_bboxes_3d = gt_bboxes_3d[valid_gt]
  gt_labels_3d = gt_labels_3d[valid_gt]
+
+ # Generate fake GT for empty scene
+ if valid_gt.sum() == 0:
+ vote_targets = points.new_zeros(self.num_candidates, 3)
+ center_targets = points.new_zeros(self.num_candidates, 3)
+ size_res_targets = points.new_zeros(self.num_candidates, 3)
+ dir_class_targets = points.new_zeros(
+ self.num_candidates, dtype=torch.int64)
+ dir_res_targets = points.new_zeros(self.num_candidates)
+ mask_targets = points.new_zeros(
+ self.num_candidates, dtype=torch.int64)
+ centerness_targets = points.new_zeros(self.num_candidates,
+ self.num_classes)
+ corner3d_targets = points.new_zeros(self.num_candidates, 8, 3)
+ vote_mask = points.new_zeros(self.num_candidates, dtype=torch.bool)
+ positive_mask = points.new_zeros(
+ self.num_candidates, dtype=torch.bool)
+ negative_mask = points.new_ones(
+ self.num_candidates, dtype=torch.bool)
+ return (vote_targets, center_targets, size_res_targets,
+ dir_class_targets, dir_res_targets, mask_targets,
+ centerness_targets, corner3d_targets, vote_mask,
+ positive_mask, negative_mask)
+
  gt_corner3d = gt_bboxes_3d.corners
 
  (center_targets, size_targets, dir_class_targets,