Comments (7)
Yes. The additional_info is not used by the main algorithm.
In details,
column 0 is frame number
column 1 is the object type
columns 2, 3, 4, 5 are 2D box
column 6 is confidence
columns 7-13 are 3D box
column 14 is the orientation.
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@autonomobil @xinshuoweng thanks for sharing the information of this , i wanted to know the details of the columns of 7-13 3D box values since the object detectors you have mentioned will it provided directly the values in the kitti data format , if not is there any code base which does this conversion since my object detector is different
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Yes. The 3D bounding box in columns 7-13 is exactly the same as the KITTI format.
In brief,
columns 7-9 are the dimensions (height width length in meters)
columns 10-12 are the location (x, y, z in meters in camera coordinate)
columns 13 is rotation_y (rotation ry around Y-axis in camera coordinate [-pi, pi])
You can check out the details on the KITTI 3d object detection benchmark. There is a readme file when you download the object development toolkit (devkit_object.zip)
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@xinshuoweng I am really confused with the data format. In the main.py , you apply det[3] as theta. Which one is correct?
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Can you please let me know which line you are talking about? I cannot find det[3]
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In main.py line230-> KalmanBoxTracker.update.
new_theta = bbox3D[3]
if new_theta >= np.pi: new_theta -= np.pi * 2 # make the theta still in the range
if new_theta < -np.pi: new_theta += np.pi * 2
bbox3D[3] = new_theta
where bbox3D is det
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This is explained inline 340, inside the function of “update(self, dets_all)”, each det is [x, y, z, theta, l, w, h]. So det[3] is theta. What are you confused about?
Basically, the order of the value in det is swapped in line 348, I guess that is what you are confused about. As long as you feed the data based on the format I have written in the readme, you are good to go.
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Related Issues (20)
- HOTA
- C++ implement HOT 1
- Converting nuScenes detections to KITTI format missing correspondence files HOT 3
- Can you share the new change lists of the code this year?
- Question about the KITTI detections. HOT 2
- Project dependencies may have API risk issues
- Question about visualization HOT 2
- carefully followed provided installation instructions, got FileNotFoundError HOT 7
- real-time data HOT 4
- 无法评估的问题
- Detector/Training procedure to get the provided detections HOT 1
- 请问是否修改过工程 HOT 1
- A question about detection results which in data/KITTI/detection/
- Speed optimization and parameter choice for custom detector
- Do you have ab3dmot c++ version code? HOT 1
- a question about function"get_ego_traj" HOT 1
- 请问如何修改别的检测结果作为输入进行实验?
- 'Box3D' object has no attribute 'o'
- sAMOTA, AMOTA, AMOTP, MOTA
- How to use AB3DMOT with custom dataset?
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