OpenPCDet

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@sshaoshuai Thanks for the awesome toolbox. But I'm not quite clear about why [this line](https://github.com/open-mmlab/OpenPCDet/blob/master/tools/train.py#L154) here occurs before the DDP model wrapper, even with the simple comment. Could you explain...

toyot-li

semaphore_tracker: There appear to be 4 leaked semaphores to clean up at shutdown len(cache))

7

How to deal with the problem? When I using this "bash scripts/dist_train.sh ${NUM_GPUS} --cfg_file cfgs/waymo_models/centerpoint_4frames.yaml" to train waymo dataset. like this： multiprocessing/semaphore_tracker.py:144: UserWarning: semaphore_tracker: There appear to be 4 leaked...

yeyang1021

Yes. I did inference the KITTI test set with official PV-RCNN weight, and submit the results to KITTI website. The results show as: Car (3D Detection) | 66.01 % |...

JLIN77

Different results from original paper on kitti test set (PV-RCNN++)

2

I saw results listed on table 16(PV-RCNN++) is different from original paper. Are the results reproduced here?

hailong23-jin

[BUG] boxes_iou_bev returns a large number when boxes has negative edges.

2

https://github.com/open-mmlab/OpenPCDet/blob/dd2edf9da0944238d3711f8145cc5b86c65f5a79/pcdet/ops/iou3d_nms/src/iou3d_nms_kernel.cu#L233 当A、B两个Box中存在负数边长时，其面积Sa和Sb可能被计算为负值。 因此此处的Sa+Sb-S_overlap结果可能为负值，并导致s_overlap / fmaxf(sa + sb - s_overlap, EPS) 为一个无意义的大数。 是否应该要确保sa、sb为正数，对其做abs处理？或与MMCV中的类似计算一样直接返回IoU=0？ 参考MMCV的实现：https://github.com/open-mmlab/mmcv/blob/b9bdfeb6f6aa67372d18b2ed5a10de28fc179d11/mmcv/ops/csrc/common/box_iou_rotated_utils.hpp#L334

Qiza-lyhm

evaluation problem of pv-rcnn++ on waymo dataset

9

The evaluation results are weird as follows: 2022-09-10 13:24:55,922 INFO *************** Performance of EPOCH 30 ***************** 2022-09-10 13:24:55,923 INFO Generate label finished(sec_per_example: 0.0646 second). 2022-09-10 13:24:55,924 INFO recall_roi_0.3: 0.286138 2022-09-10...

sjtuljw520

problems about version switching

2

I run the experiments on Openpcdet0.2, now I need to make the code correct on version 0.5. If I directly change the OpenPCDet/pcdet from 0.2 to 0.5 and re-setup, will...

KevinDuBl

ONCE benchmark support

3

Hi All, Thank you for this wonderful repo! We want to use OpenPCDet with ONCE dataset, do you plan to support it? If not do you have documentation / tutorial...

AvivSham

SST support (Embracing Single Stride 3D Object Detector with Sparse Transformer)

2

SST is an excellent 3D detection method based on transformer, but at present there is only implementation code based on mmdetection3d. (https://github.com/tusen-ai/SST) Can you provide SST support based on OpenPCDet?

jlqzzz

About MPPNet "Train the RPN model for MPPNet (centerpoint_4frames is employed in the paper)"

3

Thanks the author share code about MPPNet. But based one the author readme, **First** I generated the new datasets about waymo, I want verify whether the dataset is true. This...

xpyqiubai