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xinshuoweng avatar xinshuoweng commented on June 19, 2024

Thanks for your question!

So both should work, either using the original 2D box's coordinate or projecting the updated 3D coordinates to 2D. However, there is a slight difference in performance. I remember I have tried both a long time ago and if I remember correctly, projecting 3D coordinates to 2D yields a slightly worse performance. This is quite common to see due to the 3D-2D box definition inconsistency. Normally, the projected 2D box from 3D box is not tight enough compared to detection directly in 2D space. You can try visualization for a few 3D detection results and see if this is the case.

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