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训练代码图片预处理中flip时,x未取反,这是个bug吗? #11
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@DuZzzs 不是BUG,图像flip并不对应直接在世界坐标系下取反,因为二者的对称轴并不是对齐的。要先把3D位置投影到图像中,然后flip。对应代码在Line220-221. |
因为最终xy是通过图像上的点反推到相机坐标系下的,所以投下来做flip就行。谢谢。@xinzhuma |
@xinzhuma 您好,在看代码时存在几个疑问,您能否解答下:
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score不在0到1之间我还不太理解,我需要去看下ap计算的代码。非常感谢您的回复。 |
score 在(0, 1)只是方便人为理解。实际上,整个AP计算过程,score起到的是一个ranking的作用,只要ranking不变,任何范围的score取值都是没有影响的。实际上,你可以用任何一个单调函数将它映射到(0,1)区间,结果理论上保持不变。 |
明白了,非常感谢。 |
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图片预处理代码中当flip时,并未对x取反,这样会导致box3d在图中投影不对。这是一个bug吗?
monodle/lib/datasets/kitti/kitti_dataset.py
Line 165 in 273d801
是否要加入:
@xinzhuma
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