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[Fix] NMS for Point RCNN #1418

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merged 2 commits into from
Apr 25, 2022
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[Fix] NMS for Point RCNN #1418

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0b41406
fix nms for point rcnn
filaPro Apr 22, 2022
a2ae474
add else case
filaPro Apr 24, 2022
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17 changes: 11 additions & 6 deletions mmdet3d/models/dense_heads/point_rpn_head.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
from mmcv.runner import BaseModule, force_fp32
from torch import nn as nn

from mmdet3d.core import xywhr2xyxyr
from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
LiDARInstance3DBoxes)
from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
Expand Down Expand Up @@ -320,29 +321,33 @@ def class_agnostic_nms(self, obj_scores, sem_scores, bbox, points,
else:
raise NotImplementedError('Unsupported bbox type!')

bbox = bbox.tensor[nonempty_box_mask]
bbox = bbox[nonempty_box_mask]

if self.test_cfg.score_thr is not None:
score_thr = self.test_cfg.score_thr
keep = (obj_scores >= score_thr)
obj_scores = obj_scores[keep]
sem_scores = sem_scores[keep]
bbox = bbox[keep]
bbox = bbox.tensor[keep]

if obj_scores.shape[0] > 0:
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topk = min(nms_cfg.nms_pre, obj_scores.shape[0])
obj_scores_nms, indices = torch.topk(obj_scores, k=topk)
bbox_for_nms = bbox[indices]
bbox_for_nms = xywhr2xyxyr(bbox[indices].bev)
sem_scores_nms = sem_scores[indices]

keep = nms_func(bbox_for_nms[:, 0:7], obj_scores_nms,
nms_cfg.iou_thr)
keep = nms_func(bbox_for_nms, obj_scores_nms, nms_cfg.iou_thr)
keep = keep[:nms_cfg.nms_post]

bbox_selected = bbox_for_nms[keep]
bbox_selected = bbox.tensor[indices][keep]
score_selected = obj_scores_nms[keep]
cls_preds = sem_scores_nms[keep]
labels = torch.argmax(cls_preds, -1)
else:
bbox_selected = bbox.tensor
score_selected = obj_scores.new_zeros([0])
labels = obj_scores.new_zeros([0])
cls_preds = obj_scores.new_zeros([0, sem_scores.shape[-1]])

return bbox_selected, score_selected, labels, cls_preds

Expand Down