search

hustvl / MapTR

[ICLR'23 Spotlight & IJCV'24] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction
MIT License
1.12k stars 173 forks source link

Is any modification in mmdetection3d? #10

Closed YexingWan closed 1 year ago

YexingWan commented 1 year ago

Thanks for the gorgeous work! I see a full mmdetection3d project is included. Is any difference or code modification with the origin open source version? Thank you.

LegendBC commented 1 year ago

It should be fine to perform the experiments with the original open-source v0.17.1 mmdetection3d . Our provided mmdetection3d is slightly different from the original, we integrate some features of BEVFusion to ablate 2d-to-bev transformation module with optimized LSS-style bevpool in Table 3 of our paper and support multi-modality settings in MapTR, which will be released in the future.

YexingWan commented 1 year ago

Thanks for your reply. :dango: So if i only play with GKT, it's fine to install original open-source v0.17.1 mmdetection3d.

Moreover, the implementation of GKT is different from original GKT which seems to implement a cuda version GKA module in this project. For reproducing the FPS, Is it necessary to use the cuda kernel GKA instead the torch version when do infer?

LegendBC commented 1 year ago

For reproducing the FPS, Is it necessary to use the cuda kernel GKA instead the torch version when do infer?

Yes, the FPS is tested with GKT's cuda kernel

YongtaoGe commented 1 year ago

It should be fine to perform the experiments with the original open-source v0.17.1 mmdetection3d . Our provided mmdetection3d is slightly different from the original, we integrate some features of BEVFusion to ablate 2d-to-bev transformation module with optimized LSS-style bevpool in Table 3 of our paper and support multi-modality settings in MapTR, which will be released in the future.

Hi, @LegendBC, thanks for your great work. Can you provide a config file for the LSS-style MapTR?