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Owen-Liuyuxuan / visualDet3D

Official Repo for Ground-aware Monocular 3D Object Detection for Autonomous Driving / YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection
https://owen-liuyuxuan.github.io/papers_reading_sharing.github.io/3dDetection/GroundAwareConvultion/
Apache License 2.0
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Is there a parenthesis missing in the code. #4

Closed rockywind closed 3 years ago

rockywind commented 3 years ago

Is there a parenthesis missing in the code. y_shifts_base = F.relu( h_mean * (yy_grid - cy) / 2 * (self.relative_elevation - 0.5 * h_mean) ) / (yy_grid.shape[1] * 0.5) # [1, H, W] https://github.com/Owen-Liuyuxuan/visualDet3D/blob/master/visualDet3D/networks/lib/look_ground.py

rockywind commented 3 years ago

The formula in the paper. image

Owen-Liuyuxuan commented 3 years ago

This is a rather important bug found in the code. Thank you for reporting. I was rather lucky because (EL - 0.5*h_mean) is numerically reasonably close to 1.0.