Open qsisi opened 2 weeks ago
I add the following lines to evaluate the refine correct rate of the fine module:
def lidar2uvs(xyz, lidar2cam, K): cam_pts = (lidar2cam[:3, :3] @ xyz.T + lidar2cam[:3, 3:]).T cam_pts = cam_pts / cam_pts[:, 2:] uvs = (K @ cam_pts.T).T uvs = uvs[:, :2] return uvs gt_uvs = lidar2uvs(coarse_pc_points.cpu().numpy(), P, K.cpu().numpy()) coarse_uvs = fine_center_xy.T.cpu().numpy() refine_uvs = fine_xy.T.cpu().numpy() refine_correct = (np.linalg.norm(gt_uvs - refine_uvs, axis=-1) < np.linalg.norm(gt_uvs - coarse_uvs, axis=-1))
The mean refine_correct rate for over 5583 samples on the KITTI test set is 0.3325, which is pretty low in my understanding.
Could you provide some hints about it?
I add the following lines to evaluate the refine correct rate of the fine module:
The mean refine_correct rate for over 5583 samples on the KITTI test set is 0.3325, which is pretty low in my understanding.
Could you provide some hints about it?