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earthparserdataset's Introduction

EarthParserDataset

Important

This repository is a fork of the original repo EarthParserDataset. For more informations, check out the original repository. Special thanks to @romainloiseau for his great work!

This fork mainly adds good support for the 3D Lidar scenes of genBoxes.

Main changes

  • LidarScenes module in earthparserdataset/lidardataset.py: able to load entire 3D Lidar scenes (specifically tailored towards scenes generated by genBoxes, and aiming autonomous driving scenes).
  • New options, including for example the lidar_center setting (encodes the position of the lidar sensor) or the ability to process the ground truth (gt) positions of the objects in the scenes.
  • New config files for different experiment setups. You can for example have a look at configs/data/5complex_light_velod_allScene_SINGLE.yaml. It uses several of the new options.

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