xyupeng

New fields for camera-only deteciton

2

Hi, Currently I cannot find the field `num_top_lidar_points_in_box` in [dataset.proto](https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/dataset.proto). I think it should be label.proto And is there a compiled document for these (old and new) fields? How can...

gt boxes for camera only 3d detection

3

Hi, I want to check that the gt boxes used for the camera only 3d detection task are those appear in at least one of the camera images? This is...

Hi there, This is a great work and many thanks for releasing the code. When I look into the code, I find some places where nan is handled, like https://github.com/megvii-research/PETR/blob/7b046e28a03dcb296987eb3e76cbf761f52a37f0/projects/mmdet3d_plugin/models/dense_heads/petr_head.py#L419-L420...