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About custom datasets and num_pred_height in config #38

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qiuqc1 opened this issue Jul 24, 2024 · 2 comments
Open

About custom datasets and num_pred_height in config #38

qiuqc1 opened this issue Jul 24, 2024 · 2 comments

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@qiuqc1
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qiuqc1 commented Jul 24, 2024

When I try to use my own dataset to connect to vidar debugging, point_cloud_range = [-70, -150, -10.0, 70, 150, 10.0], num_pred_height = 16, but there are always some idx data whose loss in the first frame and the second frame is 0. The reason is that when generating cur_origin_points and cur_gt_points, the height of z exceeds num_pred_height, resulting in cur_valid_mask being all false when calculating loss, and subsequent dense.loss is all 0
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I would like to know if the range of num_pred_height and point_cloud_range is related to this?
I would like to ask if the author has ever encountered such a situation?

@tomztyang
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Hi,

how about adjusting the num_pred_height or some parameters related to voxel_size accordingly? I haven't tested the code with other ranges in the z-axis (e.g., [-10, 10] in your case).

Best,
Zetong

@counterattack-hub
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Isn't 'cur_valid_mask' all about the dimension of x?

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