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[Fixed] Fix issue #298 #357

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merged 3 commits into from
Mar 24, 2021
Merged

[Fixed] Fix issue #298 #357

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f240c7a
Avoid 4 dims points
xiliu8006 Mar 11, 2021
122b82f
add assert prinf
xiliu8006 Mar 19, 2021
80899fa
modify print info
xiliu8006 Mar 23, 2021
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30 changes: 24 additions & 6 deletions mmdet3d/ops/roiaware_pool3d/points_in_boxes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,15 @@ def points_in_boxes_gpu(points, boxes):
Returns:
box_idxs_of_pts (torch.Tensor): (B, M), default background = -1
"""
assert boxes.shape[0] == points.shape[0]
assert boxes.shape[2] == 7
assert boxes.shape[0] == points.shape[0], \
f'Points and boxes should have the same batch size, ' \
f'got {boxes.shape[0]} and {boxes.shape[0]}'
assert boxes.shape[2] == 7, \
f'boxes dimension should be 7, ' \
f'got unexpected shape {boxes.shape[2]}'
assert points.shape[2] == 3, \
f'points dimension should be 3, ' \
f'got unexpected shape {points.shape[2]}'
batch_size, num_points, _ = points.shape

box_idxs_of_pts = points.new_zeros((batch_size, num_points),
Expand Down Expand Up @@ -59,8 +66,12 @@ def points_in_boxes_cpu(points, boxes):
point_indices (torch.Tensor): (N, npoints)
"""
# TODO: Refactor this function as a CPU version of points_in_boxes_gpu
assert boxes.shape[1] == 7
assert points.shape[1] == 3
assert boxes.shape[1] == 7, \
f'boxes dimension should be 7, ' \
f'got unexpected shape {boxes.shape[2]}'
assert points.shape[1] == 3, \
f'points dimension should be 3, ' \
f'got unexpected shape {points.shape[2]}'

point_indices = points.new_zeros((boxes.shape[0], points.shape[0]),
dtype=torch.int)
Expand All @@ -83,8 +94,15 @@ def points_in_boxes_batch(points, boxes):
Returns:
box_idxs_of_pts (torch.Tensor): (B, M, T), default background = 0
"""
assert boxes.shape[0] == points.shape[0]
assert boxes.shape[2] == 7
assert boxes.shape[0] == points.shape[0], \
f'Points and boxes should have the same batch size, ' \
f'got {boxes.shape[0]} and {boxes.shape[0]}'
assert boxes.shape[2] == 7, \
f'boxes dimension should be 7, ' \
f'got unexpected shape {boxes.shape[2]}'
assert points.shape[2] == 3, \
f'points dimension should be 3, ' \
f'got unexpected shape {points.shape[2]}'
batch_size, num_points, _ = points.shape
num_boxes = boxes.shape[1]

Expand Down