kitti_eval

evaluate_object_3d_offline.cppevaluates your KITTI detection locally on your own computer using your validation data selected from KITTI training dataset, with the following metrics:

• overlap on image (AP)
• oriented overlap on image (AOS)
• overlap on ground-plane (AP)
• overlap in 3D (AP)

Compile evaluate_object_3d_offline.cpp with dependency of Boost and Linux dirent.h (You should already have it under most Linux).

Run the evalutaion by:

./evaluate_object_3d_offline groundtruth_dir result_dir

Note that you don't have to detect over all KITTI training data. The evaluator only evaluates samples whose result files exist.

Updates

• June, 2017:
  • Fixed the bug of detection box filtering based on min height according to KITTI's note on 25.04.2017.