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HaohaoNJU / CenterPoint

TensorRT deployment for CenterPoint Lidar Detection Model.
MIT License
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velocity #34

Closed irmuun20 closed 1 year ago

irmuun20 commented 1 year ago

I used waymo tracker from CenterPoint, How could I obtain velocity from the model? Thanks

HaohaoNJU commented 1 year ago

This model doesn't support velocity detection, you need at least two sweeps pcls to to that. However you can get velos by kalman filter, pls refer to the tracking code .

nwdxbx commented 1 year ago

Hi, @HaohaoNJU, when I want get the velocity, I find the class KalmanBoxTracker of sort_3d.py file ， the kalman filter set 13 dim quantity of state， can you tell me what does each state mean, Thanks!