Xianpeng919 / MonoCon

Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detection (AAAI'22)
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Question about the quantization residual #24

Closed Xiaolong-RRL closed 1 year ago

Xiaolong-RRL commented 1 year ago

Hello Team~ Thanks for your great work!

From the paper, I can see the quantization residual defined as: image

but in code, there is little different:

kpt_heatmap_offset_target[batch_id, j, k * 2] = kptx - kptx_int
kpt_heatmap_offset_target[batch_id, j, k * 2 + 1] = kpty - kpty_int
mask_kpt_heatmap_offset[batch_id, j, k * 2:k * 2 + 2] = 1

which is from: here. It seems like the quantization residual is defined as: image

It's different from the formula in the paper, could you tell me if this is true? If true, why to set it this way?

Thank you very much!