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gyubeomim / voxelnet_ros

qianguih' voxelnet version with ROS Implementation code
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How to give entire point_cloud rather than limiting FOV using SqueezeSeg paper? #5

Open chowkamlee81 opened 6 years ago

chowkamlee81 commented 6 years ago

Hai, In the function "hv_in_range" i voxelnet_ros.py, the FOV is limited according to SqueezeSeg paper. But i want to give entire pointcloud rather than limiting my FOV. Your inputs are highly needed. Kindly do the needful

gyubeomim commented 5 years ago

Hello @chowkamlee81,

sorry for the very late reply ;-(

I was caught by paper submission for several months and didn't check the git repository.

AFAIK, both voxelnet_ros model and squeezeseg model are trained by KITTI dataset which has front-limited FOV.

I've had a problem just the same as you and I change some codes to rotate the FOV range 360 degree. four FOV ranges were used (0,90) (90, 180) (180,270) (270, 360) and rotate while running squeezeSeg.

That's not a best answer but I implemented it and it works fine with real-time speed.

Thank you :-)