skyhehe123 / SA-SSD

SA-SSD: Structure Aware Single-stage 3D Object Detection from Point Cloud (CVPR 2020)
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confused with parameter(featmap_stride) and code #15

Closed zilongyuan closed 4 years ago

zilongyuan commented 4 years ago

1.why featmap_stride = 0.4? should it be 8? cooresponding to downsampling 3 times。

  1. in function gen_sample_grid: you calculate the center points of (4,7) region xx = torch.linspace(-.5, .5,window_size[0]).type_as(box).view(1, -1) wg yy = torch.linspace(-.5, .5,window_size[1]).type_as(box).view(1, -1) lg xx and yy not the distance between part center and object's center for example : window is (2,2) xx = (-0.5wg, 0.5wg) the part center x is (-.0.25wg, 0.25wg)
  2. about the final loss: I see in function def parse_losses(losses): you add all loss, losses is a dict, for each loss in the dict, you should already multiply the weight for the loss, you set u= 0.9, lambda = 2 in paper, but it looks like in the code , the weights not occur: in def aux_loss(self, points, point_cls, point_reg, gt_bboxes): u and lambda not occurs