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Fix an error in frustum_random_point_feature_noise.py. #2372

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Fix an error in frustum_random_point_feature_noise.py. #2372

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8749b27
Fix an error in frustum_random_point_feature_noise.py.
yangustc07 Mar 6, 2024
cf5165a
In some models, this produces the following error:
yangustc07 Mar 7, 2024
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17 changes: 14 additions & 3 deletions keras_cv/layers/preprocessing_3d/waymo/frustum_random_point_feature_noise.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
# Copyright 2022 Waymo LLC.
#
# Licensed under the terms in https://github.com/keras-team/keras-cv/blob/master/keras_cv/layers/preprocessing_3d/waymo/LICENSE # noqa: E501
import logging

import tensorflow as tf

Expand Down Expand Up @@ -98,9 +99,17 @@ def get_random_transformation(self, point_clouds, **kwargs):
# frustum.
valid_points = point_clouds[0, :, POINTCLOUD_LABEL_INDEX] > 0
num_valid_points = tf.math.reduce_sum(tf.cast(valid_points, tf.int32))
randomly_select_point_index = tf.random.uniform(
(), minval=0, maxval=num_valid_points, dtype=tf.int32
)
try:
randomly_select_point_index = tf.random.uniform(
(), minval=0, maxval=maxval, dtype=tf.int32
)
except tf.errors.InvalidArgumentError:
logging.error(
"Skipping frustum random point noise augmentation: No valid "
"point is found."
)
return {}

randomly_select_frustum_center = tf.boolean_mask(
point_clouds[0], valid_points, axis=0
)[randomly_select_point_index, :POINTCLOUD_LABEL_INDEX]
Expand Down Expand Up @@ -144,6 +153,8 @@ def get_random_transformation(self, point_clouds, **kwargs):
def augment_point_clouds_bounding_boxes(
self, point_clouds, bounding_boxes, transformation, **kwargs
):
if "point_noise" not in transformation:
return (point_clouds, bounding_boxes)
point_noise = transformation["point_noise"]

# Do not add noise to points that are protected by setting the
Expand Down