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pangsu0613 / CLOCs

CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection
MIT License
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Inference on Kitti dataset #18

Closed shaunkheng97 closed 3 years ago

shaunkheng97 commented 3 years ago

May I know how can I run the inference on CLOCs? Do I need to write my own inference code?

pangsu0613 commented 3 years ago

Hello @shaunkheng97 , The Evaluation section in readme illustrates how to run inference using CLOCs.

shaunkheng97 commented 3 years ago

Is there a way to visualize my inference results on test images on 2d images or 3d point cloud?

pangsu0613 commented 3 years ago

The outputs of CLOCs are in the same format as SECOND-V1.5, so you could use the KITTI viewer under /CLOCs/second/kittiviewer, the instructions can be found in this page, https://github.com/traveller59/second.pytorch/tree/v1.5. kittiviewer could visualize the results on 3d point cloud and images. Another option is to use the MATLAB script from official kitti object development kit, this script can visualize 2D bbox and projected 3d bbox on images. The MATLAB script is original developed to visualize kitti labels (txt files), so you need to make some small changes to use it.