Open alright1117 opened 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.
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?