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Vegeta2020 / SE-SSD

SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloud, CVPR 2021.
Apache License 2.0
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Density or reflectivity? #85

Closed liangkangzheng closed 2 years ago

liangkangzheng commented 2 years ago

Hi Wu Zheng, I've recently read SE-SSD both paper and code and have found inconsitency in data preprocessing. In paper you mentioned that (x, y, z, density) were the basic features. However I couldn't find the code related to density but only a simple comment that indicates that the 4th feature may be reflectivity. Could you help me out to clarify which feature should we use? And how we get the density of the voxel ?

Vegeta2020 commented 2 years ago

Hi @liangkangzheng "density" should be a typo and we actually mean intensity, i.e., the reflectivity of laser rays. Thanks for your reminding.