360 Degree detection issue

[CrazyMage24]

Hi,

First of all, thanks for the work, the program works really well for me. I am using the pretrained network on my own LiDAR datasets. I noticed that the point cloud visualization and detection only works for the front half.

I changed the test.py to

def point_range_filter(pts, point_range=[-69.12, -39.68, -3, 69.12, 39.68, 1]):

and now it visualizes the whole point cloud, but the detection still only applies to the front half. Can you help with that?

Current progress:

Thanks in advance!

[zhulf0804]

Hi @CrazyMage24,

Try to update the point_cloud_range parameter in the following 3 code blocks,

1. https://github.com/zhulf0804/PointPillars/blob/9c98d51742ff21209e1a587cf6c6f680f1cc5224/model/pointpillars.py#L220-L226
2. https://github.com/zhulf0804/PointPillars/blob/9c98d51742ff21209e1a587cf6c6f680f1cc5224/test.py#L15
3. https://github.com/zhulf0804/PointPillars/blob/9c98d51742ff21209e1a587cf6c6f680f1cc5224/test.py#L38

Please let me know if there are any problems, thanks.

[CrazyMage24]

Hi again @zhulf0804,

When I update these 3 parameters to [-69.12, -39.68, -3, 69.12, 39.68, 1] this happens

But if I update the anchor parameters as well in the pointpillars.py line 246-248, then it goes back to the previous state. Thanks again!

[zhulf0804]

Hello @CrazyMage24,

Could you please send the tested Lidar data to my mailbox ([email protected]) if possible?

I'll debug it in the next few days.

Thanks.

[CrazyMage24]

Hi,

I have a Drive folder with the bin files https://drive.google.com/drive/folders/1HAAgm9dSs5PbshG-mb4CV-bG7DgoOwyK?usp=sharing

Thank you!

[zhulf0804]

Hi @CrazyMage24,

Maybe there are 4 code blocks to be updated for point cloud range.

In addition to the above 3 code blocks, the 4th code block needed to be updated is https://github.com/zhulf0804/PointPillars/blob/9c98d51742ff21209e1a587cf6c6f680f1cc5224/model/pointpillars.py#L245-L248

Please let me know if there are any problems, thank you.

Update

Prediction on 000022.bin you provided in the Drive folder.