search

djiajunustc / Voxel-R-CNN

262 stars 41 forks source link

How to evaluate my own point cloud #2

Closed Wes-Wang closed 3 years ago

Wes-Wang commented 3 years ago

Hello, I was hoping you could give me some guidance on the syntax for evaluating my own set of point clouds. I was not able to figure out how to do this through the files. Thank you!

djiajunustc commented 3 years ago

Hi，

You can convert your data format to the similar format of KITTI. And use the kitii_dataset.py to load your own dataset.

Remember to convert the GT boxes from the coordinates of annotation to that of the LiDAR. Please refer to https://github.com/djiajunustc/Voxel-R-CNN/blob/main/pcdet/datasets/kitti/kitti_dataset.py#L370

And if you only annotate the objects in the FOV, please refer to https://github.com/djiajunustc/Voxel-R-CNN/blob/main/pcdet/datasets/kitti/kitti_dataset.py#L354 to remove the points out of range.