Open FYYLHH opened 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
as i said,the lidar don't detect the front point,the code of 36 line is not similar to solve the problem.
hello,i am thirsty to wait your early reply.
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.
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.
What do you mean point column is negative?
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.
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.
Would you please change the argument
sensor_direction
fromrear
tofront
? It's located in 36th line ofintegrated.launch
.