Data in 'inference.py'

[WonsokYoo]

Actually I tried to download '000007.bin' and '000008.bin' by myself but by any chance.. do you have any script to download the KITTI dataset into pre-defined path (in the code) as follows: '../data/kitti/training/velodyne_reduced/000007.bin' ?

[Jacob Hultman]

Hi, thanks for your question. Here are the links to download KITTI dataset:

• calib
• label_2
• velodyne

velodyne_reduced refers to velodyne points after they have been filtered to remove points outside of camera field of view. I will release code later today to carry out this filtering.

Edit: Sorry, I just realized 000008.bin is in the testing set, not the training set. You can replace with any other file in the training set, such as 000009.bin.

[liyang0522]

in inference period，the points in the testing set are not filtered before and the velodyne_reduced/ only has the points in training set , so it means that i should filter the points in testing set and then put them into the inference model ,am i right? thx