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SxJyJay / MSMDFusion

[CVPR 2023] MSMDFusion: Fusing LiDAR and Camera at Multiple Scales with Multi-Depth Seeds for 3D Object Detection
Apache License 2.0
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inference speed #5

Closed AndyYuan96 closed 1 year ago

AndyYuan96 commented 1 year ago

Hi，I notice that you use resnet50+fpn to generate image feature，but use centernet2 to generate virtual point，so I just wonder wether the inference speed 2.1HZ include the centernet2 inference time and virtual point generation time？if not，after add that time，how is the inference speed？

SxJyJay commented 1 year ago

The inference speed doesn't include virtual point generation time, since we generate them offline following MVP. Since the code structures are totally different between virtual points generation and end-to-end training, we haven't tested the whole inference time at present.

AndyYuan96 commented 1 year ago

The inference speed doesn't include virtual point generation time, since we generate them offline following MVP. Since the code structures are totally different between virtual points generation and end-to-end training, we haven't tested the whole inference time at present.

get。