Closed tleyden closed 2 years ago
not enough. As kitti dataset is a little different from other dataset like nuscense, waymo, kitti's 3d label is in camera coordinate, and the anchor is configured according to kitti dataset. so you need to pay attention to following things:
Your PointCloud2 message format is an ordered point cloud. You can use pcl::fromROSMsg and pcl_conversions to convert the point cloud into a list of points in format XYZIR like the KITTI dataset.
You can use ros_numpy to transform the PointCloud2 ROS message into a NumPy array, then convert the array into the format that PCDet expects (according to __getitem__ function in pcdet/datasets/kitti/kitti_dataset.py
). If you want boxes in LiDAR coordinate for evaluation, you can modify the generate_prediction_dict function which will be called after the model inference.
refer this PR:
This issue is stale because it has been open for 30 days with no activity.
This issue was closed because it has been inactive for 14 days since being marked as stale.
I'm trying to perform inference with
sensor_msgs/msg/PointCloud2
messages with the following structure:If I converted this into the same point cloud format that pcdet expects, would this be enough to perform inference and generate 3D bounding boxes? Any examples or pointers?