bugfixed to run PillarNet on WOD

Author: sshaoshuai

.gitignore

@@ -7,10 +7,11 @@ data/
 venv/
 *.idea/
 *.so
+*.yaml
 *.sh
 *.pth
 *.pkl
 *.zip
 *.bin
 output
-version.py
+version.py

pcdet/models/backbones_3d/vfe/__init__.py

@@ -1,7 +1,7 @@
 from .mean_vfe import MeanVFE
 from .pillar_vfe import PillarVFE
 from .dynamic_mean_vfe import DynamicMeanVFE
-from .dynamic_pillar_vfe import DynamicPillarVFE, DynamicPillarPFE
+from .dynamic_pillar_vfe import DynamicPillarVFE, DynamicPillarVFESimple2D
 from .image_vfe import ImageVFE
 from .vfe_template import VFETemplate
 
@@ -12,5 +12,5 @@
     'ImageVFE': ImageVFE,
     'DynMeanVFE': DynamicMeanVFE,
     'DynPillarVFE': DynamicPillarVFE,
-    'DynamicPillarPFE': DynamicPillarPFE
+    'DynamicPillarVFESimple2D': DynamicPillarVFESimple2D
 }

pcdet/models/backbones_3d/vfe/dynamic_pillar_vfe.py

@@ -137,12 +137,12 @@ def forward(self, batch_dict, **kwargs):
                                    ), dim=1)
         voxel_coords = voxel_coords[:, [0, 3, 2, 1]]
 
-        batch_dict['pillar_features'] = features
+        batch_dict['voxel_features'] = batch_dict['pillar_features'] = features
         batch_dict['voxel_coords'] = voxel_coords
         return batch_dict
 
 
-class DynamicPillarPFE(VFETemplate):
+class DynamicPillarVFESimple2D(VFETemplate):
     def __init__(self, model_cfg, num_point_features, voxel_size, grid_size, point_cloud_range, **kwargs):
         super().__init__(model_cfg=model_cfg)
 

pcdet/models/detectors/__init__.py

@@ -11,6 +11,7 @@
 from .pv_rcnn_plusplus import PVRCNNPlusPlus
 from .mppnet import MPPNet
 from .mppnet_e2e import MPPNetE2E
+from .pillarnet import PillarNet
 
 __all__ = {
     'Detector3DTemplate': Detector3DTemplate,
@@ -23,6 +24,7 @@
     'CaDDN': CaDDN,
     'VoxelRCNN': VoxelRCNN,
     'CenterPoint': CenterPoint,
+    'PillarNet': PillarNet,
     'PVRCNNPlusPlus': PVRCNNPlusPlus,
     'MPPNet': MPPNet,
     'MPPNetE2E': MPPNetE2E

pcdet/models/detectors/detector3d_template.py

@@ -100,7 +100,7 @@ def build_backbone_2d(self, model_info_dict):
 
         backbone_2d_module = backbones_2d.__all__[self.model_cfg.BACKBONE_2D.NAME](
             model_cfg=self.model_cfg.BACKBONE_2D,
-            input_channels=model_info_dict['num_bev_features']
+            input_channels=model_info_dict.get('num_bev_features', None)
         )
         model_info_dict['module_list'].append(backbone_2d_module)
         model_info_dict['num_bev_features'] = backbone_2d_module.num_bev_features

tools/cfgs/kitti_models/pillarnet.yaml

@@ -8,7 +8,7 @@ MODEL:
     NAME: PillarNet
 
     VFE:
-        NAME: DynamicPillarPFE
+        NAME: DynamicPillarVFESimple2D
         WITH_DISTANCE: False
         USE_ABSLOTE_XYZ: True
         USE_CLUSTER_XYZ: False

tools/cfgs/nuscenes_models/cbgs_pillar0075_res2d_centerpoint.yaml

@@ -64,7 +64,7 @@ MODEL:
     NAME: PillarNet
 
     VFE:
-        NAME: DynamicPillarPFE
+        NAME: DynamicPillarVFESimple2D
         WITH_DISTANCE: False
         USE_ABSLOTE_XYZ: True
         USE_CLUSTER_XYZ: False

tools/cfgs/waymo_models/pillarnet.yaml

@@ -7,7 +7,7 @@ MODEL:
     NAME: PillarNet
 
     VFE:
-        NAME: DynamicPillarPFE
+        NAME: DynamicPillarVFESimple2D
         WITH_DISTANCE: False
         USE_ABSLOTE_XYZ: True
         USE_CLUSTER_XYZ: False