Output Format about pointrcnn HOT 6 OPEN

You are right. Here the output form is consistent with the KITTI label files (KITTI rectified camera coordinate ). Please refer to the introduction of KITTI training labels for details.

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OK thanks for your answer ! Another point, is there a way to disable the calibration step easily to train PointRCNN on other annotated point clouds ?

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You need to check the codes manually to update the codes where the calibrations are used. Most of them are in the dataset related codes, maybe you should write a new dataloader for your own point clouds.

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I will write a new dataloader, it will be more appropriate I think. Another point, why are you subsampling the point cloud into 16,384 points as mentioned in the paper? Is it only for a memory point of view ?

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The PointNet++ needs a fixed number of input points and then I subsample 16384 points as the input.

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this post has helped to clarify my doubts too. thanks.

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