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Virtual_Cues

  • You can choose a segmentation model, such as CenterNet2, and generate corresponding virtual clues using the following command. Here, we follow the centernet2, use this config and the corresponding model weights.

Download the model weights in here: model weights Run the following command:

# nuScenes
python virtual_cues/virtual_gen.py --info_path nuScenes_DATA_ROOT/infos_train_10sweeps_withvelo_filter_True.pkl  MODEL.WEIGHTS centernet2_checkpoint.pth

Note: The file of nuScenes_DATA_ROOT/infos_train_10sweeps_withvelo_filter_True.pkl is generated follows CenterPoint: https://github.com/tianweiy/CenterPoint/blob/master/docs/NUSC.md