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Banconxuan / RTM3D

The official PyTorch Implementation of RTM3D and KM3D for Monocular 3D Object Detection
MIT License
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代码的实现与论文的描述一致吗？ #38

Open benlvzi opened 3 years ago

benlvzi commented 3 years ago

特别是关于位置的损失函数部分

benlvzi commented 3 years ago

能否指教一下下边 kp_norm C是什么意思？ 我理解是世界坐标点的Zw乘以一个相机坐标系下的归一化平面（Xc/Zc,Yc/Zc）没啥意义啊 代码如下： B[:, :, 0:1] = l 0.5 cosori + w 0.5 sinori B[:, :, 1:2] = h 0.5 B[:, :, 2:3] = l 0.5 cosori - w 0.5 sinori B[:, :, 3:4] = h 0.5 B[:, :, 4:5] = -l 0.5 cosori - w 0.5 sinori B[:, :, 5:6] = h 0.5 B[:, :, 6:7] = -l 0.5 cosori + w 0.5 sinori B[:, :, 7:8] = h 0.5 B[:, :, 8:9] = l 0.5 cosori + w 0.5 sinori B[:, :, 9:10] = -h 0.5 B[:, :, 10:11] = l 0.5 cosori - w 0.5 sinori B[:, :, 11:12] = -h 0.5 B[:, :, 12:13] = -l 0.5 cosori - w 0.5 sinori B[:, :, 13:14] = -h 0.5 B[:, :, 14:15] = -l 0.5 cosori + w 0.5 sinori B[:, :, 15:16] = -h * 0.5 B[:, :, 16:17] = 0 B[:, :, 17:18] = 0

    C[:, :, 0:1] = -l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 1:2] = -l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 2:3] = -l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 3:4] = -l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 4:5] = l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 5:6] = l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 6:7] = l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 7:8] = l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 8:9] = -l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 9:10] = -l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 10:11] = -l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 11:12] = -l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 12:13] = l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 13:14] = l * 0.5 * sinori - w * 0.5 * cosori
    C[:, :, 14:15] = l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 15:16] = l * 0.5 * sinori + w * 0.5 * cosori
    C[:, :, 16:17] = 0
    C[:, :, 17:18] = 0

    B = B - kp_norm * C
GUUUUG commented 3 years ago

他这是直接把推理后的公式写了出来，而不是一步步推理的，中间省去了一些步骤 但有个问题，这篇论文的结果始终无法复现

ujsyehao commented 3 years ago

@GUUUUG 请问你复现到了多少精度呢？

GUUUUG commented 3 years ago

与给出的结果低1~2个点

------------------ 原始邮件 ------------------ 发件人: "Banconxuan/RTM3D" @.>; 发送时间: 2021年7月1日(星期四) 晚上6:33 @.>; 抄送: "王广杰"<953704875@@.***>; 主题: Re: [Banconxuan/RTM3D] 代码的实现与论文的描述一致吗？ (#38)

@GUUUUG 请问你复现到了多少精度呢？

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