the number of points in the first frame’s car
freshwk opened this issue · 5 comments
Would you please tell me how you compute the number of points in the first frame’s car.My result is quite different from the result in your paper. My code are as follows:
We do not do any checking during the evaluation.
The filtering is done when you create a dataset. For Nuscene dataset, we use the num_lidar_pts field for the number of points in a BBox. We do not do any filtering for KITTI dataset.
If we don't count the number of points on the first frame’s car in KITTI, how to get the Figure 4 in your paper ?
Sorry for the misunderstanding. I see what you mean now.
The implementation of your code does not have any problem. Different results may be caused by the change of our codebase.
Could you provide more details for us to reproduce your results?
I use the cropAndCenterPC function to crop point clouds inside template boungding box in each sequence. I set offset=0, scale=1.0. I consider frame numbers in each sequence when compute average Success for each interva. This is the result i get.
Only 2 sequence have (40,50] points in the first frame's car. I dont know what is wrong.
Could you try running this using the limit_box: True and use_z: False? You may need to overwrite the config when reloading the checkpoint.