hailanyi
commented
1 year ago KITTI detection dataset provided a development kit, which contains the description of bound ing box format. You need to save the OpenPCDet boxes to .txt file according to this format. Please refer to the detection results we provided.
{'name': array(['Car', 'Car', 'Cyclist', 'Car', 'Car', 'Car', 'Cyclist', 'Pedestrian', 'Pedestrian', 'Cyclist'], dtype='<U10'), 'truncated': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]), 'occluded': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]), 'alpha': array([-4.515572 , -4.082801 , -8.211994 , -4.2358727, -6.37723 , -4.212622 , -7.653681 , -7.828194 , -3.5104022, -7.7533026], dtype=float32), 'bbox': array([[ 390.46756, 182.59967, 420.16034, 202.18625], [ 93.72412, 207.40984, 192.874 , 245.46086], [ 676.26434, 162.27713, 691.895 , 190.43402], [ 207.97661, 185.72922, 272.2654 , 217.085 ], [ 771.51385, 172.55157, 896.3316 , 212.16136], [ 217.41855, 188.42061, 271.71057, 213.47649], [ 338.7873 , 181.46661, 348.29086, 203.7352 ], [ 953.0622 , 152.42534, 984.1048 , 240.13443], [1197.7362 , 145.42426, 1241. , 231.93535], [ 214.69026, 177.82062, 222.83852, 203.2955 ]], dtype=float32), 'dimensions': array([[3.8072727 , 1.4813445 , 1.6003532 ], [3.52273 , 1.3748183 , 1.8758411 ], [1.6750405 , 1.752761 , 0.42281026], [3.6912992 , 1.555141 , 1.5810864 ], [4.483073 , 1.4696931 , 1.6517544 ], [3.673051 , 1.4601415 , 1.5243837 ], [1.5081377 , 1.6859876 , 0.39957428], [0.8074811 , 1.77992 , 0.5690844 ], [0.60090435, 1.7681558 , 0.5539663 ], [1.5440738 , 1.6429834 , 0.31740588]], dtype=float32), 'location': array([[-16.576267 , 2.297428 , 58.48187 ], [-20.094868 , 2.954785 , 31.181479 ], [ 4.6577272, 1.0940528, 45.77933 ], [-20.028645 , 2.286567 , 39.15602 ], [ 8.54361 , 1.4581716, 28.02376 ], [-23.375515 , 2.4971836, 46.22146 ], [-20.705027 , 2.3634393, 56.004333 ], [ 7.4708343, 1.3650522, 15.131747 ], [ 12.740014 , 1.2072334, 15.104981 ], [-25.844282 , 1.9757288, 47.61044 ]], dtype=float32), 'rotation_y': array([-4.790928 , -4.6516724, -8.111552 , -4.706223 , -6.0847206, -4.678815 , -8.006577 , -7.3778024, -2.8195329, -8.248504 ], dtype=float32), 'score': array([0.62366086, 0.5092147 , 0.45878437, 0.4128577 , 0.40351897, 0.3037016 , 0.15691371, 0.12470149, 0.10985158, 0.10319255], dtype=float32), 'boxes_lidar': array([[ 58.771694 , 16.60492 , -0.842473 , 3.8072727 , 1.6003532 , 1.4813445 , 3.2201314 ], [ 31.478838 , 20.126875 , -1.8011765 , 3.52273 , 1.8758411 , 1.3748183 , 3.0808759 ], [ 46.06226 , -4.6421843 , 0.13941461, 1.6750405 , 0.42281026, 1.752761 , 6.540756 ], [ 39.445976 , 20.054586 , -0.960226 , 3.6912992 , 1.5810864 , 1.555141 , 3.1354265 ], [ 28.312376 , -8.526211 , -0.5928153 , 4.483073 , 1.6517544 , 1.4696931 , 4.513924 ], [ 46.512444 , 23.404373 , -1.1091216 , 3.673051 , 1.5243837 , 1.4601415 , 3.1080184 ], [ 56.294018 , 20.733837 , -0.788435 , 1.5081377 , 0.39957428, 1.6859876 , 6.4357805 ], [ 15.419843 , -7.4560823 , -0.46799874, 0.8074811 , 0.5690844 , 1.77992 , 5.807006 ], [ 15.392667 , -12.72664 , -0.37202018, 0.60090435, 0.5539663 , 1.7681558 , 1.2487365 ], [ 47.89532 , 25.867668 , -0.45570797, 1.5440738 , 0.31740588, 1.6429834 , 6.6777077 ]], dtype=float32), 'frame_id': '000001'}
The output is shown above,I hope to get your help,thank you.