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megvii-research / Far3D

[AAAI2024] Far3D: Expanding the Horizon for Surround-view 3D Object Detection

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ins_depthmap in NuScenes loader

esghif opened this issue · comments

commented

I tried training Far3d on NuScenes.

It fails on the line
gt_ins_depth = [img_meta['ins_depthmap'] for img_meta in img_metas]
due to missing ins_depthmap.

Any hints how I can get that with NuScenes?

Thank you!

commented

Sorry for the late reply. We construct the ins_depthmap in class "AV2DownsampleQuantizeInstanceDepthmap" in custom_pipeline.py. If you want to get that with NuScenes, the class should also be used.