The process of learning this wonderful project 'OpenCOOD' includes studying the code and comments in the source files.

Rujia Wang email: [email protected]

Jinhao Xu email: [email protected]

branch main(Rujia Wang):

2023-06-05 train the point_pillar_v2vnet batchsize=2 original but got the all zero results

2023-06-04 train the point_pillar_intermediate_fusion batchsize=6

2023-06-03 train the point_pillar_late_fusion batchsize=20

2023-06-02 train the point_pillar_fcooper batchsize=6

2023-06-02 train the point_pillar_early_fusion batchsize=16

2023-05-13 opencood/models/sub_modules/pillar_vfe.py

pillar voxel feature encoding

inputs: voxel_features(体素特征 [n,32,4]) voxel_num_points(每个体素之内包含几个点 [n]) coords(每个提速的坐标 [n,4])

outputs: batch_dict['pillar_features'] (pillar特征 [n,64])

2023-05-12 opencood/models/point_pillar.py

pointpillar模型的整体架构，添加了论文中对于模型组成的解释。

2023-05-10 opencood/tools/train.py

模型的训练流程

所有的模型都使用这一训练流程

2023-05-09 opencood/hypes_yaml/point_pillar_early_fusion.yaml

配置文件：包含数据集，前处理，数据增强，融合方法，模型，后处理，损失函数，优化器，学习率调度器。

其他的配置文件和此结构相同