Croping of pointcloud - Githubissues

sshaoshuai / PointRCNN

PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud, CVPR 2019.

MIT License

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Croping of pointcloud #65

Open Manojbhat09 opened 5 years ago

Manojbhat09 commented 5 years ago

Hello,

Are you cropping the pointclouds? The detection is not working on the whole point cloud scene, bbut only in front of ego vehicle.

sshaoshuai commented 5 years ago

For the KITTI trainint and evaluation, we crop the point cloud to be within the front image.

Manojbhat09 commented 5 years ago

@sshaoshuai so even when I give whole pointcloud (I changed the eval code a bit to sample from whole pc), I see predictions only on the front of the ego car. I have removed all thresholding on the predictions to provide all detections, I also check the regressions after PointNET loop(intermediate bbox result before refinement). Why is this so? Can you try once and please let me know. Thanks!

descp

zzq1016 commented 4 years ago

Hi, @Manojbhat09 . I also meet this proplem. Did you find how to solve it?