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Published 20 hours ago • verified publisher icon ApolloAuto

Bug fixed

Open xxmiprai opened this issue 2 years ago • 1 comments

use_object_builder_使用逻辑或来计算，得到的结果永远是true，而根据算法特性，PointPillars、MaskPillars和CenterPoint是无需使用object_builder的，因此应该使用逻辑与。

xxmiprai avatar Sep 20 '22 03:09 xxmiprai

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CLAassistant avatar Sep 20 '22 03:09 CLAassistant

@xxmiprai Thank you for your feedback.The condition is indeed problematic, but PointPillarsDetection, MaskPillarsDetection also use use_object_builder_

daohu527 avatar Sep 26 '22 02:09 daohu527

@xxmiprai Thank you for your feedback.The condition is indeed problematic, but PointPillarsDetection, MaskPillarsDetection also use use_object_builder_

I don't think PointPillarsDetection， MaskPillarsDetection and CenterPointDetection need to use use_object_builder_. And I have verified it， please check it.

xxmiprai avatar Sep 27 '22 11:09 xxmiprai

@xxmiprai In principle it is really not needed, but this may be a historical issue.

In object_builder we set:

  • object->polygon
  • object->anchor_point
  • object->latest_tracked_time
  • object->theta // set in PointPillarsDetection
  • object->size
  • object->center

So we still need object_builder to help set the properties above.

It's not reasonable after all, and we will optimize it later!!!

daohu527 avatar Oct 10 '22 08:10 daohu527