only cars ahead can be detected?
eraofelix opened this issue · comments
Maybe change of GRID_BOUNDS will work, i'll close this issue~
Maybe change of GRID_BOUNDS will work, i'll close this issue~
sadly, it does not work, although i change GRID_BOUNDS to [-80, -40.0, -3, 80, 40.0, 2] both in training and inference
if you only train on KITTI dataset, the result is normal, because the kitti annotations only exist in camera coordinates, which means only detect things only in front of the car.
If you want to detect 360 degree things:
- try to use Sample Augmentation, make every input training cloud have annotations in 360 degree.
- just train on other dataset like Nuscenes.
- do the inference twice for ahead 180 degree and rear 180 degree.
@eraofelix
Hi, can you explain more about the third alternative - inference twice one? Do you mean flipping the whole input pointcloud? How would that work?