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zhulf0804 / PointPillars

A Simple PointPillars PyTorch Implementation for 3D LiDAR(KITTI) Detection.
MIT License
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Is reflectivity used in the input? #15

Closed cadwallader113 closed 2 years ago

cadwallader113 commented 2 years ago

Hello zhulf0804.

Is the reflectance of the LiDAR point cloud unused in train? This is because it seemed that the data after the 3 arrays (x, y, z) of points were not handled. Will the same result be obtained if the point cloud data .bin with the reflectance set to 0 is given during the test? @voxelization_cuda.cu

hard_voxelize_gpu function
NDim = 3

@voxel_module.py

voxel_num = hard_voxelize(points, voxels, coors,
num_points_per_voxel, voxel_size,
coors_range, max_points, max_voxels, 3,
  deterministic)
zhulf0804 commented 2 years ago

Hi @cadwallader113,

The reflectance is used.

NDim = 3 represents that it processes the 3-dimensional data, but each data item can be related to its data attribute, such as reflectance. More details please see here.

Best.