3D Object Detection Evaluation#31
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benjaminrwilson
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jhonykaesemodel
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jhonykaesemodel
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Looks pretty good overall, Ben. Left some comments.
| Each sweep is processed independently, computing assignment between detections and ground truth annotations. | ||
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| Args: | ||
| dts: (N,15) Table of detections. |
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I think we could complement the args with, e.g.,: Table with N detections and 15 attributes? (e.g., x, y, z ...).
| # # Check that there are 2 regular vehicles. | ||
| # assert gts["category"].value_counts()["REGULAR_VEHICLE"] == 2 | ||
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| # # Check that there are no other labels. | ||
| # assert gts["category"].value_counts().sum() == 2 |
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Won't we use these?
| breakpoint() | ||
| # read_city_SE3_ego() |
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remove breakpoint and the commented function?
| Valid cuboids meet _two_ conditions: | ||
| 1. The cuboid's centroid (x,y,z) must lie within the maximum range in the detection configuration. | ||
| 2. The cuboid must have at _least_ one point in its interior. | ||
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Docstring might be a bit confusing as we are not using the number of points condition in this function. Or should we add is_valid_num_points: NDArrayBool = gts[:, -1] > 0 here too?
| dts: (N,15) Table of detections. | ||
| gts: (M,15) Table of ground truth annotations. | ||
| cfg: Detection configuration. |
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I'd add meaning for 15 here (e.g., where 15 is the number of attributes (e.g., x, y, z).
jhonykaesemodel
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jhonykaesemodel
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LGTM! Thanks, Ben!
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