Xiang Li issues

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                                            Xiang Li

box_utils.is_within_box_3d is not accurate?

Hi, waymo research. I tried to get the point cloud inside each 3d box with 'box_utils.is_within_box_3d' function, and then project these points to image, here is what the image looked...

Perception-BoundingBox

How to train the network.

Thanks for releasing your code! Can you show more about how to train the network?