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tianweiy / MVP

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How is the FPS of MVP? #13

Closed buaacyw closed 2 years ago

buaacyw commented 2 years ago

I'm curious about the FPS of MVP. Is it much slower than pure centerpoint?

tianweiy commented 2 years ago

I don't have exact number but it is slower as we need to run a 2d model on top of 6 camera images. So the runtime is like 6 CenterNet + 1 CenterPoint + 5~10ms for virtual point generation.

buaacyw commented 2 years ago

Thanks！

zyl1336110861 commented 2 years ago

@tianweiy The CenterNet is very slow.

tianweiy commented 2 years ago

Well, it depends(on your definition of slow). It is 40fps(for one image) in our setup and different image could be pipelined in real deployment.

zyl1336110861 commented 2 years ago

How can you achieve 40fps??? So amazing.

tianweiy commented 2 years ago

We use Titan rtx / latest pytorch+cuda. Isn't this the standard speed for centernet2(with dla model)?

zyl1336110861 commented 2 years ago

OK! Thank you, I will have a try. Making the total model real-time is so hard especially on Xavier.

tianweiy commented 2 years ago

Well, I suggest using lidar only model on Xavier then. Any camera will be too slow..

zyl1336110861 commented 2 years ago

OK!