[Fix]Fix Centerpoints point clouds range

configs/_base_/datasets/nus-3d.py

@@ -1,6 +1,6 @@
 # If point cloud range is changed, the models should also change their point
 # cloud range accordingly
-point_cloud_range = [-50, -50, -5, 50, 50, 3]
+point_cloud_range = [-50, -50.8, -5, 50, 49.1, 3]
 # For nuScenes we usually do 10-class detection
 class_names = [
     'car', 'truck', 'trailer', 'bus', 'construction_vehicle', 'bicycle',

configs/centerpoint/centerpoint_pillar02_second_secfpn_8xb4-cyclic-20e_nus-3d.py

@@ -6,7 +6,7 @@
 
 # If point cloud range is changed, the models should also change their point
 # cloud range accordingly
-point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
+point_cloud_range = [-51.2, -52, -5.0, 51.2, 50.3, 3.0]
 # For nuScenes we usually do 10-class detection
 class_names = [
     'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',

configs/centerpoint/centerpoint_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py

@@ -3,7 +3,7 @@
 # If point cloud range is changed, the models should also change their point
 # cloud range accordingly
 voxel_size = [0.075, 0.075, 0.2]
-point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
+point_cloud_range = [-54, -54.8, -5.0, 54, 53.1, 3.0]
 # For nuScenes we usually do 10-class detection
 class_names = [
     'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',

configs/centerpoint/centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-flip-tta-cyclic-20e_nus-3d.py

@@ -1,7 +1,7 @@
 _base_ = './centerpoint_voxel0075_second_secfpn_' \
          'head-dcn-circlenms_8xb4_cyclic-20e_nus-3d.py'
 
-point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
+point_cloud_range = [-54, -54.8, -5.0, 54, 53.1, 3.0]
 file_client_args = dict(backend='disk')
 class_names = [
     'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',

configs/centerpoint/centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-flip-tta-cyclic-20e_nus-3d.py

@@ -1,7 +1,7 @@
 _base_ = './centerpoint_voxel0075_second_secfpn' \
          '_head-dcn_8xb4-cyclic-20e_nus-3d.py'
 
-point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
+point_cloud_range = [-54, -54.8, -5.0, 54, 53.1, 3.0]
 file_client_args = dict(backend='disk')
 class_names = [
     'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',

configs/centerpoint/centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-tta-cyclic-20e_nus-3d.py

@@ -3,7 +3,7 @@
 
 model = dict(test_cfg=dict(pts=dict(use_rotate_nms=True, max_num=500)))
 
-point_cloud_range = [-54, -54, -5.0, 54, 54, 3.0]
+point_cloud_range = [-54, -54.8, -5.0, 54, 53.1, 3.0]
 file_client_args = dict(backend='disk')
 class_names = [
     'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',