Fix voxel shift in sparse projection.

xheon · Apr 29, 2022 · 906b4a5 · 906b4a5
1 parent 6539172
commit 906b4a5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lib/modeling/projection/sparse_projection.py b/lib/modeling/projection/sparse_projection.py
@@ -133,7 +133,7 @@ def forward(self, depth, features, instances, targets) -> Me.SparseTensor:
 
             # pad to 256,256,256
             padding_offsets = self.compute_frustum_padding(intrinsic_inverse)
-            flatten_coordinates = flatten_coordinates + padding_offsets + torch.tensor([1, 1, 1]).float().to(device)
+            flatten_coordinates = flatten_coordinates + padding_offsets #- torch.tensor([1, 1, 1]).float().to(device)  # Fix wrong voxel offset
 
             flat_features = sample_features.view(num_points * num_repetition, -1)
             sparse_coordinates.append(flatten_coordinates)