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fix edge cases #126

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fix edge cases #126

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487c510
QIM does not apply to the last frame
d-li14 Aug 29, 2023
cfa3d3d
fix can bus info of the first frame
d-li14 Aug 29, 2023
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2 changes: 1 addition & 1 deletion projects/mmdet3d_plugin/uniad/detectors/uniad_e2e.py
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Original file line number Diff line number Diff line change
Expand Up @@ -274,7 +274,7 @@ def forward_test(self,
tmp_pos = copy.deepcopy(img_metas[0][0]['can_bus'][:3])
tmp_angle = copy.deepcopy(img_metas[0][0]['can_bus'][-1])
# first frame
if self.prev_frame_info['scene_token'] is None:
if self.prev_frame_info['prev_bev'] is None:
img_metas[0][0]['can_bus'][:3] = 0
img_metas[0][0]['can_bus'][-1] = 0
# following frames
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9 changes: 7 additions & 2 deletions projects/mmdet3d_plugin/uniad/detectors/uniad_track.py
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Original file line number Diff line number Diff line change
Expand Up @@ -371,6 +371,7 @@ def _forward_single_frame_train(
all_matched_indices=None,
all_instances_pred_logits=None,
all_instances_pred_boxes=None,
is_last=False,
):
"""
Perform forward only on one frame. Called in forward_train
Expand Down Expand Up @@ -470,8 +471,11 @@ def _forward_single_frame_train(
tmp = {}
tmp["init_track_instances"] = self._generate_empty_tracks()
tmp["track_instances"] = track_instances
out_track_instances = self.query_interact(tmp)
out["track_instances"] = out_track_instances
if is_last:
out["track_instances"] = None
else:
out_track_instances = self.query_interact(tmp)
out["track_instances"] = out_track_instances
return out

def select_active_track_query(self, track_instances, active_index, img_metas, with_mask=True):
Expand Down Expand Up @@ -567,6 +571,7 @@ def forward_track_train(self,
all_matched_idxes,
all_instances_pred_logits,
all_instances_pred_boxes,
is_last=(i==num_frame-1),
)
# all_query_embeddings: len=dec nums, N*256
# all_matched_idxes: len=dec nums, N*2
Expand Down