zwqnju

[Why the height of ground plane is computed like this? ](https://github.com/poodarchu/Det3D/blob/01258d8cb26656c5b950f8d41f9dcc1dd62a391e/det3d/datasets/nuscenes/nusc_common.py#L364) Your code: `zz = (-plane[0] * xx - plane[1] * yy - plane[3]) / plane[2]`

When creating data (for KITTI), [the following code](https://github.com/traveller59/second.pytorch/blob/3aba19c9688274f75ebb5e576f65cfe54773c021/second/data/kitti_dataset.py#L336) is executed. `indices = box_np_ops.points_in_rbbox(points_v[:, :3], gt_boxes_lidar)` However, if the `origin` argument is not set (default: `origin=[0.5, 0.5, 0.5]`), `box_np_ops.points_in_rbbox` ([link](https://github.com/traveller59/second.pytorch/blob/3aba19c9688274f75ebb5e576f65cfe54773c021/second/core/box_np_ops.py#L728)) will...

Have you tried Patchwork++ on nuScenes?

1

I run your program on one scene in nuScenes, but the performance is not so good as SemanticKITTI. Is it because nuScenes uses a 32-beam LiDAR and the point cloud...

Does FSD need NMS?

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It seems FSD does not need NMS. But your FSD paper dose not mention this.

What about inference speed?

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Who knows FPS of this method?