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s-duuu / pred_fusion

Object Trajectory Prediction using ROS, YOLOv5, PointPillars, CRAT-Pred
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How should I modify the code #8

Open FYYLHH opened 9 months ago

s-duuu commented 9 months ago

Would you please change the argument sensor_direction from rear to front? It's located in 36th line of integrated.launch.

FYYLHH commented 9 months ago

Sorry, I may not have described it accurately enough. Here is a picture attached. As shown in the figure, my point cloud recognition range is within the red range. I now want pointpigs to recognize the green part instead of the red part. How can I modify the code? thanks QQ图片20231121145000

FYYLHH commented 9 months ago

as i said,the lidar don't detect the front point,the code of 36 line is not similar to solve the problem.

FYYLHH commented 9 months ago

hello，i am thirsty to wait your early reply.

s-duuu commented 9 months ago

Please change the input parameter value of point_range_filter function in pillars_detect.py.

Also, I just wonder if you are using another model instead of PointPillars, because you have mentioned your model as Pointpigs.

s-duuu commented 9 months ago

Would you please fix some parameters in OpenPCDet/tools/cfgs/kitti_models/pointpillar.yaml?

There are several basic configs in the yaml, too.

Also, I cannot understand your situation. Please give me the following information.

  1. Are you using 360 deg lidar?
  2. lidar x-axis direction (front or behind?)
  3. Pointpillars detection available condition (e.g. when object has negative x, Pointpillars can detect it.)
s-duuu commented 9 months ago

What do you mean point column is negative?

FYYLHH commented 9 months ago

I am very excited to receive your reply, so I mistyped some letters. What I want to express is that the model can only detect the point cloud behind the car that I just described.

s-duuu commented 9 months ago

In OpenPCDet/tools/cfgs/kitti_models/pointpillar.yaml, there is a parameter named POINT_CLOUD_RANGE.

Please assign the same value [-69.12, -39.68, -3, 0, 39.68, 1] in these two files. (yaml & pillars_detect.py)

If it does not work, please visit the official repository of PointPillars.