make all pointpillars use bug-fixed PFN

traveller59 · May 9, 2019 · 3aba19c · 3aba19c
1 parent 364c4bd
commit 3aba19c
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Showing 5 changed files with 12 additions and 12 deletions.
diff --git a/second/configs/nuscenes/all.pp.deprecated.config b/second/configs/nuscenes/all.pp.deprecated.config
@@ -6,7 +6,7 @@ model: {
       max_number_of_points_per_voxel : 40
     }
     voxel_feature_extractor: {
-      module_class_name: "PillarFeatureNet"
+      module_class_name: "PillarFeatureNetOld"
       num_filters: [64]
       with_distance: false
       num_input_features: 4

diff --git a/second/configs/nuscenes/all.pp.largea.config b/second/configs/nuscenes/all.pp.largea.config
@@ -8,7 +8,7 @@ model: {
       max_number_of_points_per_voxel : 60
     }
     voxel_feature_extractor: {
-      module_class_name: "PillarFeatureNetBugFix"
+      module_class_name: "PillarFeatureNet"
       num_filters: [64]
       with_distance: false
       num_input_features: 4

diff --git a/second/configs/nuscenes/all.pp.lowa.config b/second/configs/nuscenes/all.pp.lowa.config
@@ -7,7 +7,7 @@ model: {
       max_number_of_points_per_voxel : 60
     }
     voxel_feature_extractor: {
-      module_class_name: "PillarFeatureNetBugFix"
+      module_class_name: "PillarFeatureNet"
       num_filters: [64]
       with_distance: false
       num_input_features: 4

diff --git a/second/configs/nuscenes/all.pp.mida.config b/second/configs/nuscenes/all.pp.mida.config
@@ -12,7 +12,7 @@ model: {
       height_threshold: 0.2 # locations with height < height_threshold will be removed.
     }
     voxel_feature_extractor: {
-      module_class_name: "PillarFeatureNet"
+      module_class_name: "PillarFeatureNetOld"
       num_filters: [64]
       with_distance: false
       num_input_features: 4

diff --git a/second/pytorch/models/pointpillars.py b/second/pytorch/models/pointpillars.py
@@ -65,7 +65,7 @@ def forward(self, inputs):
             return x_concatenated
 
 @register_vfe
-class PillarFeatureNet(nn.Module):
+class PillarFeatureNetOld(nn.Module):
     def __init__(self,
                  num_input_features=4,
                  use_norm=True,
@@ -86,14 +86,14 @@ def __init__(self,
         """
 
         super().__init__()
-        self.name = 'PillarFeatureNet'
+        self.name = 'PillarFeatureNetOld'
         assert len(num_filters) > 0
         num_input_features += 5
         if with_distance:
             num_input_features += 1
         self._with_distance = with_distance
 
-        # Create PillarFeatureNet layers
+        # Create PillarFeatureNetOld layers
         num_filters = [num_input_features] + list(num_filters)
         pfn_layers = []
         for i in range(len(num_filters) - 1):
@@ -151,7 +151,7 @@ def forward(self, features, num_voxels, coors):
         return features.squeeze()
 
 @register_vfe
-class PillarFeatureNetBugFix(nn.Module):
+class PillarFeatureNet(nn.Module):
     def __init__(self,
                  num_input_features=4,
                  use_norm=True,
@@ -172,14 +172,14 @@ def __init__(self,
         """
 
         super().__init__()
-        self.name = 'PillarFeatureNet'
+        self.name = 'PillarFeatureNetOld'
         assert len(num_filters) > 0
         num_input_features += 5
         if with_distance:
             num_input_features += 1
         self._with_distance = with_distance
 
-        # Create PillarFeatureNet layers
+        # Create PillarFeatureNetOld layers
         num_filters = [num_input_features] + list(num_filters)
         pfn_layers = []
         for i in range(len(num_filters) - 1):
@@ -266,7 +266,7 @@ def __init__(self,
             num_input_features += 1
         self._with_distance = with_distance
 
-        # Create PillarFeatureNet layers
+        # Create PillarFeatureNetOld layers
         num_filters = [num_input_features] + list(num_filters)
         pfn_layers = []
         for i in range(len(num_filters) - 1):
@@ -354,7 +354,7 @@ def __init__(self,
             num_input_features += 1
         self._with_distance = with_distance
 
-        # Create PillarFeatureNet layers
+        # Create PillarFeatureNetOld layers
         num_filters = [num_input_features] + list(num_filters)
         pfn_layers = []
         for i in range(len(num_filters) - 1):