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Centerpoint bbox coders: Fix torch warning #2873

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Centerpoint bbox coders: Fix torch warning #2873

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ba727cd
only create post_center_range Tensor once
chbehrens Jan 9, 2024
354fff5
fix for post_center_range default value
chbehrens Jan 10, 2024
eb5b682
fix decode type annotation and dimensions in docstring
chbehrens Jan 15, 2024
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6 changes: 3 additions & 3 deletions mmdet3d/models/task_modules/coders/centerpoint_bbox_coders.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ def __init__(self,
self.pc_range = pc_range
self.out_size_factor = out_size_factor
self.voxel_size = voxel_size
self.post_center_range = post_center_range
self.post_center_range = Tensor(post_center_range)
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Should notice that the default post_center_range is None, which may cause an error here.

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True, I updated it so that it stays None in that case.

self.max_num = max_num
self.score_threshold = score_threshold
self.code_size = code_size
Expand Down Expand Up @@ -204,8 +204,8 @@ def decode(self,
thresh_mask = final_scores > self.score_threshold

if self.post_center_range is not None:
self.post_center_range = torch.tensor(
self.post_center_range, device=heat.device)
self.post_center_range = self.post_center_range.to(
device=heat.device)
mask = (final_box_preds[..., :3] >=
self.post_center_range[:3]).all(2)
mask &= (final_box_preds[..., :3] <=
Expand Down