lqzhao

Hi, I met the same problem, did you solve this? Thanks @yoxu515

This repo needs much effort to reproduce the performance of the original paper.

Sorry, I have not reproduced the performance yet and I'm not going to use this repo, since the current performance is too bad to be improved.

Hi, thanks for your quick reply. I used the [https://github.com/alexklwong/calibrated-backprojection-network/blob/master/bash/void/run_kbnet_nyu_v2.sh](https://github.com/alexklwong/calibrated-backprojection-network/blob/master/bash/void/run_kbnet_nyu_v2.sh). However, the results seem to be the same. (kbnet) zlq@ivg-SYS-7048GR-TR:/home/disk2/code/calibrated-backprojection-network$ bash bash/void/run_kbnet_nyu_v2.sh Input paths: testing/nyu_v2/nyu_v2_test_image_corner.txt testing/nyu_v2/nyu_v2_test_sparse_depth_corner.txt testing/nyu_v2/nyu_v2_test_intrinsics_corner.txt testing/nyu_v2/nyu_v2_test_ground_truth_corner.txt Input settings:...

Yeah, have a good week! I'm trying to follow your work and build our model. Besides VOID and KITTI, I notice that the authors also reported the performance of KBNet...

你好，点云的坐标一般是基于车自身的lidar坐标系（以车为坐标系原点），一般的自动驾驶数据集都是如此，例如kitti nuScenes。因此需要calib和pose将点云从lidar坐标系转换到世界坐标系，或者转换至某一帧的lidar坐标系。 bbox包括标注框的坐标、尺寸、朝向。 如果有其他问题，欢迎继续提出~

@yzhh95 这么做是因为 points_in_boxes_cpu 这个函数要求 输入的 xyz 是bbox中心坐标，但是nuscenes数据的xyz是bbox底面中心的坐标，因此需要手动加上一半的高度才能满足函数要求

> 其次是为什么要做： > > ``` > object_points = object_points[:,:3] - dict['gt_bbox_3d'][i][:3] # why > rots = dict['gt_bbox_3d'][i][6] > Rot = Rotation.from_euler('z', -rots, degrees=False) > rotated_object_points = Rot.apply(object_points) > ``` 是为了将...

> 其次是为什么要做： > > ``` > object_points = object_points[:,:3] - dict['gt_bbox_3d'][i][:3] # why > rots = dict['gt_bbox_3d'][i][6] > Rot = Rotation.from_euler('z', -rots, degrees=False) > rotated_object_points = Rot.apply(object_points) > ``` 如果你的数据标注的xyz就是物体中心的话，你可以删去...

> 多谢回复，我的疑惑是，在代码中，为什么 > > https://github.com/weiyithu/SurroundOcc/blob/main/tools/generate_occupancy_with_own_data/process_your_own_data.py#L155-L165 不需要对齐中心，而 https://github.com/weiyithu/SurroundOcc/blob/main/tools/generate_occupancy_with_own_data/process_your_own_data.py#L286-L302 这里需要 谢谢你的提醒，这两处应该保持一致，我将注释掉第二处对齐中心的代码