update yaml of MPPNet

iamwilliamli · Sep 3, 2022 · 85f1d0d · 85f1d0d
1 parent 4a8a3bf
commit 85f1d0d
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/pcdet/models/roi_heads/mppnet_memory_bank_e2e.py b/pcdet/models/roi_heads/mppnet_memory_bank_e2e.py
@@ -225,10 +225,7 @@ def trajectories_auxiliary_branch(self,trajectory_rois):
             time_stamp[:,i,:] = i*0.1 
 
         box_seq = torch.cat([trajectory_rois[:,:,:,:7],time_stamp],-1)
-
-        if self.model_cfg.USE_BOX_ENCODING.NORM_T0:
-            # canonical transformation
-            box_seq[:, :, :,0:3]  = box_seq[:, :, :,0:3] - box_seq[:, 0:1, :, 0:3]
+        box_seq[:, :, :,0:3]  = box_seq[:, :, :,0:3] - box_seq[:, 0:1, :, 0:3]
 
 
         roi_ry = box_seq[:,:,:,6] % (2 * np.pi)

diff --git a/tools/cfgs/waymo_models/mppnet_e2e_memorybank_inference.yaml b/tools/cfgs/waymo_models/mppnet_e2e_memorybank_inference.yaml
@@ -91,13 +91,12 @@ MODEL:
             ENABLED: True 
             NORM_T0: True
             ALL_YAW_T0: True
-        AVG_STAGE_1: True
+        AVG_STAGE1_SCORE: True
         USE_TRAJ_EMPTY_MASK: True
         USE_AUX_LOSS: True
-        USE_MLP_JOINTEMB: True
         IOU_WEIGHT: [0.5,0.4]
 
-        ROI_GRID_POOL: #if using 16frame, change to corresponding setting 
+        ROI_GRID_POOL: #if using 16frame, change to the corresponding setting 
             GRID_SIZE: 4
             MLPS: [[128,128], [128,128]]
             POOL_RADIUS: [0.8, 1.6]