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Cc-Hy / CMKD

Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection (ECCV 2022 Oral)
Apache License 2.0
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Settings in config file #12

Open alright1117 opened 1 year ago

alright1117 commented 1 year ago

Hi, Is it necessarily to set FOV_POINTS_ONLY: True when training the teacher model? If set FOV_POINTS_ONLY: True, POINT_CLOUD_RANGE, VOXEL_SIZE_LIDAR, VOXEL_SIZE_IMG should be adjusted? and how do you set these parameters for Waymo dataset?

Cc-Hy commented 1 year ago

Hi, the FOV flag means whether to use field of view points only, i.e., the points that can be projected onto the image. When training the teacher model, this is optional and dose not matter much. But when training CMKD, it should be set to True, or the LiDAR BEV and the image BEV can not correspond and there will be many regions in the LiDAR BEV but can not appear in the image BEV.

For the Waymo dataset, a typical setting is like: POINT_CLOUD_RANGE: [0, -25.6, -2.0, 51.2, 25.6, 4.0] VOXEL_SIZE_IMG: [0.4, 0.4, 0.4] VOXEL_SIZE_LIDAR: [0.05, 0.05, 0.1]

And the setting is not fixed, you are free to change it as long as you match the settings in both LiDAR and image model.