PJLab-ADG / DetZero

[ICCV 2023] DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Clouds
https://superkoma.github.io/detzero-page/
Apache License 2.0
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TTA error when batch_size is set more than 1? #34

Open fengdian8564 opened 1 year ago

fengdian8564 commented 1 year ago

Setting batch_size to 2 when running "test.py"(config file is tools/cfgs/det_model_cfgs/centerpoint_1sweep.yaml).There is an error in 16th line of "detzero_det/utils/ensemble_utils/wbf_3d.py".

The reson of the error is that shapes of boxes、scores and labels are not matched. (boxes [bs,ops_ num,max_proposals_num,dims_num]、scores [bsops_num, max_proposals_num, 1]、labels [bsops_num, max_proposals_num, 1])

What`s more, I found 206th line of "detzero_det/models/centerpoint.py" is not worked because the first dim of boxes is not 1 when batch_size settings is more than 1. I'm not sure if the original idea for 206th line was to use "reshape" or "view". However, if I changed 206th line with "reshape" or "view", there will be another issue that TTA will perform WBF on all proposals in batch.

I`m not sure whether my thoughts are right. Maybe there are some other thoughts about that. Thank you for your time and consideration. I look forward to your response at your convenience.

qinhuan commented 1 year ago

A few modifications may solve your problem detzero_det/models/centerpoint.py 158 line

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206line

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301line

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