I plan on training a PointPillars model with the nuScenes dataset, but I was wondering what parts of the pointpillars spec file are most important to modify.
I successfully downloaded the nuScenes data and converted it to KITTI format. I also modified the anchor_generator_config part of the file to account for all the new classes, using the general dimensions of each object as the dimensions of the boxes. One part I was curious about in particular is the anchor_bottom_heights field. From what I’ve seen in other forums, it seems like some sort of offset due to the position of the sensor on the car during data collection, but it wasn’t super clear. How should this field be adjusted for the new class labels? I attached my yaml file as a txt. I would also appreciate any suggestions on the other parts of the file that need to be changed to account for new labels.
pointpillars.txt (8.7 KB)