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I noticed that in once_dataset of openpcdet there is no operation on the loc, yaw of annotated boxes3d, which means their original coordinate system is identical with the openpcdet's.
But according to the following:
the vehicle heading is right, shouldn't the unified coordinate is:
y...
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Can I use the nuscenes dataset to train PointRCNN, Voxel RCNN and other models, because there seems to be no yaml files for these models in the source code.
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When computing the PR curve for KITTI evaluation, precision at each recall point is replaced with the maximum from this point onwards.
My question is why is same operation done on recall?
Also, I think throughout the code the returned ret_dict['recall'] is never used. Can someone explain, thanks....
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Hello, is it possible to train Centerpoint on the Waymo dataset with velocity output? Also, is it possible to utilize multiple sweeps for the Waymo dataset?
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This commit cb1ecef removed the generate_prediction_dicts from 3 dataset classes (Waymo, nuScenes and Lyft). What was the reason for this? It breaks the test.py trying to execute this function and instead calling the empty base Dataset class function returning None. @jihanyang this was your commit i...
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Hello,
In the function post_processing(self, batch_dict) used to generate the prediction dict during inference, I noticed that the output probabilities are processed using a sigmoid function and not a softmax one.
Here is the code line:
if not batch_dict['cls_preds_normalized']:
cls_preds = t...
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When I trained my own dataset, the result is poor, and I can detect some cars far from base but I can't detect the cars closed to the base... What I should change the config file to make the result better? My point cloud is bigger than kittis', so I used a bigger point cloud range.
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When I try to evaluate model based on test set of Once dataset, the log information shows that the total number of Once dataset is 0. That is weird.
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Hi, I am unable to spot the custom_dataset.yaml file in the repo. Could someone provide it? I have the raw point cloud data in npy format and the labels in the unified format.