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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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How can I test against the validation set with `transfusion_nusc_voxel_LC.pth`? #88

Closed wqueree closed 1 year ago

wqueree commented 1 year ago

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