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dvlab-research / VoxelNeXt

VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking (CVPR 2023)
https://arxiv.org/abs/2303.11301
Apache License 2.0
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spatial voxel pruning #7

Closed DezeZhao closed 1 year ago

DezeZhao commented 1 year ago

@yukang2017 hi, yukang! I am confused about the spatial voxel pruning module in the code.(spconv_backbone_voxelnext） It seemed that you didn't use it in the 3d backbone while downsampling, were you?

yukang2017 commented 1 year ago

Hi Deze,

Thanks for your interest in our work. I put the backbone that contains the spatial voxel pruning in the other files.

The code of spatial voxel pruning backbone exists in https://github.com/dvlab-research/VoxelNeXt/blob/c1a45ffe01ef12fd614bd12447145f3ee8a5eb96/pcdet/models/backbones_3d/spconv_backbone_voxelnext_sps.py#L94 and https://github.com/dvlab-research/VoxelNeXt/blob/923c2fdddcd928fa300311fa5609867efb6703bf/pcdet/models/backbones_3d/spconv_backbone_voxelnext2d_sps.py#L90

For using them, you can simply change VoxelResBackBone8xVoxelNeXt to VoxelResBackBone8xVoxelNeXtSPS or from VoxelResBackBone8xVoxelNeXt2D to VoxelResBackBone8xVoxelNeXt2DSPS in config files.

Regards, Yukang Chen

DezeZhao commented 1 year ago

OK thank you.