search

mileyan / pseudo_lidar

(CVPR 2019) Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving
https://mileyan.github.io/pseudo_lidar/
MIT License
967 stars 215 forks source link

pseudo lidar gives wrong converted point cloud #45

Closed sarimmehdi closed 3 years ago

sarimmehdi commented 3 years ago

Hello. This is a KITTI image:

000000

And this is its depth map obtained using MADNet

000000

But this is its point cloud when generated using your code:

incorrect

Please tell me what could be going wrong here. The depth map looks reasonably good but the generated point cloud doesn't (I used preprocessing/generate_lidar.py)

mileyan commented 3 years ago

could you send your depth map file and file id to yw763@cornell.edu. I can help you check it.