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. PointPillars/model/pointpillars.py

   Lines 220 to 226 in 9c98d51

   	class PointPillars(nn.Module):
   	def __init__(self,
   	nclasses=3,
   	voxel_size=[0.16, 0.16, 4],
   	point_cloud_range=[0, -39.68, -3, 69.12, 39.68, 1],
   	max_num_points=32,
   	max_voxels=(16000, 40000)):

2. PointPillars/test.py

   Line 15 in 9c98d51

   def point_range_filter(pts, point_range=[0, -39.68, -3, 69.12, 39.68, 1]):

3. PointPillars/test.py

   Line 38 in 9c98d51

   pcd_limit_range = np.array([0, -40, -3, 70.4, 40, 0.0], dtype=np.float32)

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

PointPillars/model/pointpillars.py

Lines 245 to 248 in 9c98d51

	# anchors
	ranges = [[0, -39.68, -0.6, 69.12, 39.68, -0.6],
	[0, -39.68, -0.6, 69.12, 39.68, -0.6],
	[0, -39.68, -1.78, 69.12, 39.68, -1.78]]

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

Update

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