Comments (4)
inference some of the pre-trained models provided in the MODEL ZOO on the test dataset of nuScenes and generate the co-ordinates of the bounding box for cars, pedestrians etc.
For the test, you first need to generate the info file using create_data.py and the version should be v1.0-test. After that, you do the inference in the standard way with dist_test.py by running
python tools/dist_test.py CONFIG_NAME --work_dir SOME_PATH --checkpoint SOME_PATH --speed_test --testset
And then how can we visualize them by overlaying them over camera images (front, front right, front left, back, back right and back left) and also in the point cloud visualization using ros rviz
I never use ros rviz in the past. To draw on the camera images using matplotlib. you can modify the nuscenes-devkit's help function Link.
I guess This script will also be helpful if you want to use some ros libarary.
from centerpoint.
You can use. But it will only visualize objects in Bird eye view. The devkit function also shows camera view. Yes, just change the path in demo.py and also in other configuration files change the data path accordingly. It is the reference frame coordinate (coordinate of the top lidar)
from centerpoint.
@tianweiy Thanks! The same way demo.py
uses the visual() function defined in demo_utils.py
, can we not use this function to visualize?
Additionally, I wanted to inquire can the demo.py
file be used with other configurations and pre-trained models? And the detected points in the demo.py file are with respect to which co-ordinate system?
from centerpoint.
This is addressed in much details in #19
from centerpoint.
Related Issues (20)
- Virtual Points Loading
- the error when i train nuscenes, i think the reason is my spconv>2.0, but how can i change the code to solve it?
- about centerpoint-pillar nuscenes test set mAP and NDS HOT 1
- Why do Waymo and NuScenes have different `us_layer_strides` even though they use the same CenterPoint?
- No such file or directory: 'data/nuScenes/infos_ Test_ 10 sweeps_ Withvelo_ Filter_ True. pkl
- Tracking bug with Hungarian
- RuntimeError: Error compiling objects for extension HOT 1
- Unable to find nuScenes devkit HOT 2
- requirements change
- Error when starting training: TypeError: string indices must be integers
- Unable to build iou3d_NMS
- When I run create_data.py use nuScenes dataset have something wrong
- What's the speed of tracker in WOD
- time
- visual pkl
- assert len(detections) == 6008
- 请问有用mini数据集得到的centerpoint的检测结果吗,类似这个infos_val_10sweeps_withvelo_filter_True.json文件 HOT 1
- Request for Combined Train and Validation Split File
- Personal dataset HOT 1
- Ground truth filtering
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from centerpoint.