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Song-Jingyu / PointPainting

This repository is an open-source PointPainting package which is easy to understand, deploy and run!
MIT License
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Painted point clouds having artifacts #18

Closed kshitij3112 closed 2 years ago

kshitij3112 commented 2 years ago

Thank you for providing the code and your efforts. I have tried to replicate the results but when I run painting.py, I get a point cloud that does not seem correct. As you can see in the image below, the whole left part should not be there. Do you have any idea about it? Thanks in advance : painted_pointcloud )

Song-Jingyu commented 2 years ago

Hi,

Sorry for the late reply. I am not sure about this issue as I did not check all the frames. Is this problem consistent in every frame?

kshitij3112 commented 2 years ago

Hello,

Yes, it was consistent. The problem is that in painting.py, the script is not filtering the objects which lie behind the camera. So we get both the front and back points.

To solve this: true_where_front = lidar_raw[:,0] > 0 has to be added after line https://github.com/Song-Jingyu/PointPainting/blob/main/painting/painting.py#L184

and then Line 185 and 200 should be modified as: true_where_point_on_img_r = true_where_x_on_img_r & true_where_y_on_img_r & true_where_front true_where_point_on_img_l = true_where_x_on_img_l & true_where_y_on_img_l & true_where_front