Details about the KITTI model

[Devoe-97]

Hi, thanks for your excellent work!
I noticed that unlike the models on nuScenes and Waymo, the KITTI model has no 'Shared Conv' and 'Separate Heads'. The size of the feature maps for the detector head is also different.

Could you tell me the reason for such a model design?
I would like to use CenterPoint on a new dataset that has a similar size to KITTI and uses the same LiDAR as used by KITTI. However, this dataset has 8 categories and there is a severe category imbalance like in nuScenes.

Can you give me some advice on the structure of CenterPoint, such as whether to use ‘Share Conv’ and ‘Separate Head’?

Also, I would like to ask how to set the ‘SAMPLE_GROUPS’ for different categories in GT Sampling.

Thanks in advance!