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dvlab-research / VoxelNeXt

VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking (CVPR 2023)
https://arxiv.org/abs/2303.11301
Apache License 2.0
720 stars 62 forks source link

code robustness #9

Closed DezeZhao closed 1 year ago

DezeZhao commented 1 year ago

https://github.com/dvlab-research/VoxelNeXt/blob/c523b39ef747e5a6e8bdbcf0d05c306048e839f2/pcdet/models/dense_heads/voxelnext_head_maxpool.py#L400

I think it should add checking of mask_cls as follows:

if mask_cls.sum() == 0:
    continue
DezeZhao commented 1 year ago

https://github.com/dvlab-research/VoxelNeXt/blob/c523b39ef747e5a6e8bdbcf0d05c306048e839f2/pcdet/models/dense_heads/voxelnext_head_maxpool.py#L69 https://github.com/dvlab-research/VoxelNeXt/blob/c523b39ef747e5a6e8bdbcf0d05c306048e839f2/pcdet/models/dense_heads/voxelnext_head_maxpool.py#L401

here self.rectifier is not defined, definition should be added at line 69.

        if self.iou_branch:
            self.rectifier = self.model_cfg.get('RECTIFIER', [0.68, 0.71, 0.65])
yukang2017 commented 1 year ago

Thanks for your remind. Sorry for missing the self.rectifier. I have updated it.