Questions on Virtual Points

[russellyq]

Hi,

Thanks for your great work ! When I am reading your codes, I am confused about how you generate the virtual points by a specific seed, as described in your paper.

Looking forward to your answer.

Thanks.

[SxJyJay]

Do you mean that the method of selecting specific seed points in the 2D image plane for lifting into 3D voxel space? We randomly select some pixels as seeds per instance.

[russellyq]

Do you mean that the method of selecting specific seed points in the 2D image plane for lifting into 3D voxel space? We randomly select some pixels as seeds per instance.

Hi, thanks for your response.

Yes. But we did not see how you do this process in your codes.

[SxJyJay]

Because we generate these virtual points offline, and I provide the pre-generated virtual points through BaiduYun.

[russellyq]

Thanks for your answer! I still have some questions regarding this.

1. how do you generate these points offline ? Did you generate these points according to MVP ?
2. how did you read these points into the framework? Also, I see that you generate voxel_2d in (

   MSMDFusion/mmdet3d/models/detectors/MSMDFusion.py

   Line 382 in 7b5b274

   fg_voxels, fg_num_points, fg_coors = self.voxelize_fg_pcd(batch_fg_pcd_cams, downscale_factor)

   ) what is the relationship between the voxel2d here and the pre-generated virtual points ?

Thanks for your answer ! Also, since I may have some more questions, can we share our wechat via email ( qiaoyan@cuhk.edu.hk ) and we can have more corporation in future.