[PyTorch] Official implementation of CVPR2022 paper "TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers". https://arxiv.org/abs/2203.11496
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How can I test against the validation set with `transfusion_nusc_voxel_LC.pth`? #88
I am able to test generate a .pkl file using dist_test.sh and the test set, but I am trying to get results like these as per @XuyangBai comment in #7 :
mAP: 0.6727
mATE: 0.2721
mASE: 0.2517
mAOE: 0.2740
mAVE: 0.2536
mAAE: 0.1902
NDS: 0.7122
Per-class results:
Object Class AP ATE ASE AOE AVE AAE
car 0.876 0.169 0.148 0.085 0.259 0.185
truck 0.620 0.302 0.182 0.102 0.228 0.221
bus 0.757 0.302 0.186 0.048 0.386 0.256
trailer 0.428 0.520 0.209 0.463 0.185 0.163
construction_vehicle 0.274 0.666 0.417 0.833 0.124 0.318
pedestrian 0.878 0.128 0.282 0.360 0.215 0.097
motorcycle 0.754 0.184 0.244 0.215 0.421 0.267
bicycle 0.631 0.150 0.263 0.300 0.212 0.016
traffic_cone 0.770 0.119 0.304 nan nan nan
barrier 0.739 0.182 0.281 0.059 nan nan
I am able to test generate a
.pkl
file usingdist_test.sh
and the test set, but I am trying to get results like these as per @XuyangBai comment in #7 :