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XuyangBai / TransFusion

[PyTorch] Official implementation of CVPR2022 paper "TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers". https://arxiv.org/abs/2203.11496
Apache License 2.0
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Nighttime/Daytime #46

Closed zwei-lin closed 2 years ago

zwei-lin commented 2 years ago

Hi, Thanks for the great work! Transfusion shows strong robustness of inferior image conditions. I want to reimplement the result for robustness test. However, I do not find the Nighttime/Daytime split for nuScenes on its web. Can you provide the validation split of nuScenes for Nighttime/Daytime?

XuyangBai commented 2 years ago

Hi, I changed the filter strategy in the nuscenes toolkit to only evaluate on Nighttime scenes or daytime scenes based on the description of each scene. Specifically, you need to change the load_gt and load_prediction functions in the following file:

https://github.com/nutonomy/nuscenes-devkit/blob/28765b8477dbd3331bacd922fada867c2c4db1d7/python-sdk/nuscenes/eval/detection/evaluate.py