search

HaozheQi / P2B

P2B: Point-to-Box Network for 3D Object Tracking in Point Clouds
189 stars 36 forks source link

Question about losses #12

Open yanx27 opened 4 years ago

yanx27 commented 4 years ago

Hi, @HaozheQi thanks for your great work! I have a few questions after reading your code carefully.

  1. Why did you randomly sample 128 points through FPS when selecting seed, but when calculating loss, you used the first 128 points of the input point cloud as ground truth? I know this question is already appear in #Issue1, but I am still confused in this question.

  2. How do you define the ground truth of heading angle (rotation of x-y plane), which cannot be found in your codes clearly but is mentioned in your paper.

Looking forward your reply!

Minzhao1995 commented 3 years ago

According to the author, the down sample process is random sample, so I think there is no FPS.