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DerrickXuNu / OpenCOOD

[ICRA 2022] An opensource framework for cooperative detection. Official implementation for OPV2V.
https://mobility-lab.seas.ucla.edu/opv2v/
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SECOND and PointPillars implementation #32

Closed linchunmian closed 2 years ago

linchunmian commented 2 years ago

Hi, I check the implementation of SECOND or PointPillar is slightly different from the in other framework (i.e., OpenCOOD), such as proposal layer. dense head and roi head. What is your concern about it?

DerrickXuNu commented 2 years ago

Sorry, I didn't get you. Do you mean PointPillar official implementation is different from OpenCood?

linchunmian commented 2 years ago

Yes, the proposal layer and anchor generation process seem to be removed in the OpenCOOD.

DerrickXuNu commented 2 years ago

No, it is not removed. I used OpenPCDet's implementation and please carefully check the codes.

DerrickXuNu commented 2 years ago

https://github.com/DerrickXuNu/OpenCOOD/blob/42776d04810334a8a55f7abb8dfaf848ce9c3359/opencood/data_utils/post_processor/voxel_postprocessor.py#L29

linchunmian commented 2 years ago

Thanks. But I do not find the parameter settings about dense head or roi head in the config.yaml file.

DerrickXuNu commented 2 years ago

For second and pointpillar, I believe they are one-stage detector, so there should be no roi head. For dense head, I utilized 2 simple 3x3 convolution to get classification/regression.

linchunmian commented 2 years ago

many thanks, I got it.