depth supervision code in maptrv2 is not valid? code bug?

hustvl / MapTR

[ICLR'23 Spotlight] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction

MIT License

982 stars 150 forks source link

depth supervision code in maptrv2 is not valid? code bug? #168

Open lwx422 opened 2 months ago

lwx422 commented 2 months ago

maptrv2 branch, file: projects/mmdet3d_plugin/maptr/modules/encoder.py line 1162--1164 code: fg_mask = depth_labels > 0.0 # 只计算有深度的前景的深度loss depth_labels = depth_labels[fg_mask] depth_preds = depth_preds[fg_mask]` the "fg_mask" only keep positive samples, all negative samples are filtered which make this branch invalid, please check.

304886938 commented 2 days ago

I had the same problem. Have you solve it?