argoverse2 val experiment

[wangyunlhr]

Hi,
Thank you for sharing this great project! I’m currently trying to load the model(deflow_best.ckpt) and test it on the argoverse2 validation dataset, but I’m noticing that the results are slightly worse than expected.
Dataprepocess: I didn't use the last line to transform. [ego2sensor_pose]

Could it be an issue with the data processing? I’m wondering about the coordinate transformation, as I’m not quite sure why it’s necessary.

Thank you for your help!

[Kin-Zhang]

Yes, I think you should follow the dataprocess correctly and include that part, since it is trained on the sensor frame point cloud, the different is shown here: (if you comment the code will be the left one, and the correct is right one)

And this result is I run just now using this repo with the deflow_best weight:

[wangyunlhr]

Thank you for your help!
After transforming the points to the sensor coordinate system, should the flow labels also be transformed to the sensor coordinate system?

[Kin-Zhang]

No need, since this sensor coordinate is just higher the z a little bit, and the flow label is calculated the relative flow between p0 and p1, so it won't be affect is p0 p1 both transform to the same coor.

[wangyunlhr]

Got it, thank you very much!