Confusion about the existence of trajectory query

PJLab-ADG / DetZero

[ICCV 2023] DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Clouds

https://superkoma.github.io/detzero-page/

Apache License 2.0

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Confusion about the existence of trajectory query #38

Open hutao568 opened 1 year ago

hutao568 commented 1 year ago

https://github.com/PJLab-ADG/DetZero/blob/main/refining/detzero_refine/datasets/waymo/waymo_position_dataset.py#L161C15-L161C15

I don’t understand why GT information is used to fill the trajectory. Is this place filled with the length of the predicted trajectory that is less than 200?

superkoma commented 1 year ago

It's used to align the format to assign the corresponding supervised information. 200 is suitable for WOD, it can be changed to assign your own data setting.