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[Fix] Move bev_range to ObjectRangeFilter's call for consistency with gt_bboxes_3d type #717

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merged 3 commits into from
Jul 12, 2021
Merged

[Fix] Move bev_range to ObjectRangeFilter's call for consistency with gt_bboxes_3d type #717

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88a4103
fix bev_range problem with points in different coordinate systems
gopi-erabati Jul 7, 2021
30e358f
changed checking instance on points to gt_bboxes_3d to make it compat…
gopi-erabati Jul 7, 2021
b1d025e
sort imports
gopi-erabati Jul 7, 2021
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13 changes: 10 additions & 3 deletions mmdet3d/datasets/pipelines/transforms_3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
from mmcv.utils import build_from_cfg

from mmdet3d.core import VoxelGenerator
from mmdet3d.core.bbox import box_np_ops
from mmdet3d.core.bbox import (CameraInstance3DBoxes, DepthInstance3DBoxes,
LiDARInstance3DBoxes, box_np_ops)
from mmdet.datasets.builder import PIPELINES
from mmdet.datasets.pipelines import RandomFlip
from ..builder import OBJECTSAMPLERS
Expand Down Expand Up @@ -699,7 +700,6 @@ class ObjectRangeFilter(object):

def __init__(self, point_cloud_range):
self.pcd_range = np.array(point_cloud_range, dtype=np.float32)
self.bev_range = self.pcd_range[[0, 1, 3, 4]]

def __call__(self, input_dict):
"""Call function to filter objects by the range.
Expand All @@ -711,9 +711,16 @@ def __call__(self, input_dict):
dict: Results after filtering, 'gt_bboxes_3d', 'gt_labels_3d' \
keys are updated in the result dict.
"""
# Check points instance type and initialise bev_range
if isinstance(input_dict['gt_bboxes_3d'],
(LiDARInstance3DBoxes, DepthInstance3DBoxes)):
bev_range = self.pcd_range[[0, 1, 3, 4]]
elif isinstance(input_dict['gt_bboxes_3d'], CameraInstance3DBoxes):
bev_range = self.pcd_range[[0, 2, 3, 5]]

gt_bboxes_3d = input_dict['gt_bboxes_3d']
gt_labels_3d = input_dict['gt_labels_3d']
mask = gt_bboxes_3d.in_range_bev(self.bev_range)
mask = gt_bboxes_3d.in_range_bev(bev_range)
gt_bboxes_3d = gt_bboxes_3d[mask]
# mask is a torch tensor but gt_labels_3d is still numpy array
# using mask to index gt_labels_3d will cause bug when
Expand Down