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qcraftai / pillar-motion

Self-Supervised Pillar Motion Learning for Autonomous Driving (CVPR 2021)
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Question about the data augmention #9

Open tyjiang1997 opened 2 years ago

tyjiang1997 commented 2 years ago

Hi!, thanks for your good project to the lidar motion. But I have a question about the data augmention. I notice that the "input_points" are augmented with global flip and scaling, but the "source_points" and "target_points" do not do this augmetation. Maybe the predicted motion can not transform "source_points" to "target_points" to compute precise chamfer loss. Is this a bug?

chenxuluo commented 2 years ago

Thanks for pointing it out. In the original implementation, all the points are concatenated together and sliced afterward. We are still verifying the preprocessing part after refactorizing.