Is there any evaluation metrics for kitti untransformed kind dataset on 3D object detection?

[NyquistBodeTu]

Hi, it's my great pleasure that the labelcloud is the wonderful tool to make KITTI untransformed kind dataset. By modifying some codes, it is easy to train 3D detection neural network. However, the evaluation metrics of KITTI dataset is different from ours. So I need to find a new evaluation metric for our dataset, just LiDAR data, without Images. Do you have any suggestions? Looking forward to your reply.