Baturalp Mankır

For anyone who's interested in transformation, can update the line as below if wanna convert KITTI format. ``` kitti_to_nu_lidar = Quaternion(axis=(0, 0, 1), angle=np.pi)```

That transformation definition makes the https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/scripts/export_kitti.py#L153 assertion pass. However after converting the PCD and GTs accordingly, GT and the image don't match. And also training with `PRCNN` also gives bad...

@joinssmith so you've used the same transformation as in NuScenes, but also updated z of cuboid GT based on definition?

For anyone interested, the `distance_based_proposal` method https://github.com/sshaoshuai/PointRCNN/blob/master/lib/rpn/proposal_layer.py#L58 has to be updated. Such that negative values should be added to `nms_range_list` since it checks `z` in the cam dimension. I was...

> Hey, what value are you using for `nms_range_list`? `nms_range_list = [-40.0, 40.0, 80.0]` should work, right? Depends on the z range you want to define, it indeed works, but...

Assuming you're using the pre-trained model, the results of cuboids with classes in KITTI format are saved in ` output/rcnn/default/eval/epoch_no_number/val/final_result/data ` in ` txt ` format. You'll have the image...

Assuming you're using the ` default.yaml `, did you use the ` --set RPN.LOC_XZ_FINE False ` while running ` eval_rcnn.py ` for your own trained model , because you shouldn't...

@shengyuwoo can you paste the error message here?

@shengyuwoo can you also put the command you run.

@shengyuwoo It looks like the model you provide with ` --ckpt ` doesn't have the ` rpn ` params. But you have to provide the commands that you run through...