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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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Use of detected ground plane in Nuscenes #96

Closed MeyLavie closed 4 years ago

MeyLavie commented 4 years ago

  1. what changes you made (git diff) or what code you wrote uncommented nu_ds.get_sample_ground_plane(root_path, version=version) under create_data.py in order to create infos_trainval_ground_plane.pkl

  2. what exact command you run: Create data script (generated the above file) and then train for cbgs code (nuscenes dataset).

Expected behavior:

As I read in your paper you use the ground plane in order to augment new bb on it but I couldn't find where you use this information in the code. Found something similar on kitti files but they use some .txt files I couldn't find. In your article, you mentioned that it gave you ~8 nds improvement.

Thank you

poodarchu commented 4 years ago

ground plane height of the nuScenes dataset is quite stable, so gorund plane detection is optional; So I remove it in the latest version of code.

MeyLavie commented 4 years ago

@poodarchu Thank you for the response. So do you say it is hardcoded in the code? I couldn't find where you augmented new "detection" on the ground plane in the code which brought (as you described in your article) the greatest NDS improvement (~8) and that is what I'm looking for.