yurongyou / hindsight Goto Github PK
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License: MIT License
Code release for "Hindsight is 20/20: Leveraging Past Traversals to Aid 3D Perception" [ICLR 2022]
License: MIT License
Hello,
Thank you very much for making your work available.
Can you share how to split NuScenes evaluation results into groups using distance toward LiDAR as you did in Table. 2 of your paper?
Thanks your work! when Download Lyft dataset and convert it to KITTI format, i meet this problem:
File "/home/biaoli/anaconda3/envs/hindsight/lib/python3.8/site-packages/lyft_dataset_sdk/utils/data_classes.py", line 283, in from_file
points = scan.reshape((-1, 5))[:, : cls.nbr_dims()]
ValueError: cannot reshape array of size 265728 into shape (5)
24%|█████████▏ | 5471/22680 [03:31<11:04, 25.90it/s]
is this a properly solution ?
lyft/nuscenes-devkit#89
thanks you !
If I want to apply hindsight to my project, do I need to prepare my dataset just like lyft dataset?
I have a question on the 'forward' in split_traintest.py under which circumstances would it be true?
forward = origin_pose[0,:3] @ poses[seq_id][min_dist_indices][0, :3] > 0
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