fix max_voxels

open-mmlab · Apr 26, 2023 · 8e6c33e · 8e6c33e
1 parent b900f2d
commit 8e6c33e
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/configs/_base_/models/minkunet.py b/configs/_base_/models/minkunet.py
@@ -9,15 +9,14 @@
             point_cloud_range=[-100, -100, -20, 100, 100, 20],
             voxel_size=[0.05, 0.05, 0.05],
             max_voxels=(-1, -1)),
-    ),
+        max_voxels=80000),
     backbone=dict(
         type='MinkUNetBackbone',
         in_channels=4,
         base_channels=32,
-        encoder_channels=[32, 64, 128, 256],
-        decoder_channels=[256, 128, 96, 96],
         num_stages=4,
-        init_cfg=None),
+        encoder_channels=[32, 64, 128, 256],
+        decoder_channels=[256, 128, 96, 96]),
     decode_head=dict(
         type='MinkUNetHead',
         channels=96,

diff --git a/configs/_base_/models/spvcnn.py b/configs/_base_/models/spvcnn.py
@@ -9,14 +9,14 @@
             point_cloud_range=[-100, -100, -20, 100, 100, 20],
             voxel_size=[0.05, 0.05, 0.05],
             max_voxels=(-1, -1)),
-    ),
+        max_voxels=80000),
     backbone=dict(
         type='SPVCNNBackbone',
         in_channels=4,
         base_channels=32,
+        num_stages=4,
         encoder_channels=[32, 64, 128, 256],
         decoder_channels=[256, 128, 96, 96],
-        num_stages=4,
         drop_ratio=0.3),
     decode_head=dict(
         type='MinkUNetHead',

diff --git a/mmdet3d/models/data_preprocessors/data_preprocessor.py b/mmdet3d/models/data_preprocessors/data_preprocessor.py
@@ -49,6 +49,8 @@ class Det3DDataPreprocessor(DetDataPreprocessor):
             voxelization and dynamic voxelization. Defaults to 'hard'.
         voxel_layer (dict or :obj:`ConfigDict`, optional): Voxelization layer
             config. Defaults to None.
+        max_voxels (int): Maximum number of voxels in each voxel grid. Defaults
+            to None.
         mean (Sequence[Number], optional): The pixel mean of R, G, B channels.
             Defaults to None.
         std (Sequence[Number], optional): The pixel standard deviation of
@@ -77,7 +79,7 @@ def __init__(self,
                  voxel: bool = False,
                  voxel_type: str = 'hard',
                  voxel_layer: OptConfigType = None,
-                 max_voxels: int = 80000,
+                 max_voxels: Optional[int] = None,
                  mean: Sequence[Number] = None,
                  std: Sequence[Number] = None,
                  pad_size_divisor: int = 1,
@@ -428,7 +430,7 @@ def voxelize(self, points: List[torch.Tensor],
                 inds, point2voxel_map = self.sparse_quantize(
                     res_coors_numpy, return_index=True, return_inverse=True)
                 point2voxel_map = torch.from_numpy(point2voxel_map).cuda()
-                if self.training:
+                if self.training and self.max_voxels is not None:
                     if len(inds) > self.max_voxels:
                         inds = np.random.choice(
                             inds, self.max_voxels, replace=False)