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V2AI / Det3D

World's first general purpose 3D object detection codebse.
https://arxiv.org/abs/1908.09492
Apache License 2.0
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Why does the pointpillars net not have voxelization operation at the beginning? #169

Closed chenrui17 closed 1 year ago

chenrui17 commented 1 year ago

I am a begginer of 3D obejct detection, i compared some pointpillars relization from det3d , mmdetection3D and PointPillars(https://github.com/zhulf0804), such as:

mmdetection3d : voxelization -> PillarFeatureNet -> PointPillarsScatter -> SECONDFPN -> Anchor3DHead det3d: PillarFeatureNet -> PointPillarsScatter -> RPN -> MultiGroupHead PointPillars : voxelization -> PillarEncoder -> backbone...

and i found mmdetection3D repo's pointpillars net and paper's PointPillars both have voxelization operation, but det3d's pointpillars net is not. why ?

poodarchu commented 1 year ago

https://github.com/poodarchu/Det3D/blob/master/examples/point_pillars/configs/nusc_all_point_pillars_mghead_syncbn.py#L275