Hi, @zongdai I have question about 3dkeypoints. Do we need to modify the 3dkeypoints in your json files? (that is to say, 3dkeypoints in the same coordinate system with original kitti official coordinate system?)

after run:

python src/faster.py --demo /home/kitti/testing/image_2 --calib_dir /home/kitti/testing/calib --load_model trainval_model_batch16_gpu2_200epoch_pc48_adaptivekp_rightaug.pth --gpus 0 --arch dla_34 --num_joints 57 --sample_pc 48 --vis

i only got empty white bev and original image

not as expected

i followed the instructions to install autoshape but error reports:

$ python setup.py install
running install
running bdist_egg
running egg_info
writing iou3d.egg-info/PKG-INFO
writing dependency_links to iou3d.egg-info/dependency_links.txt
writing top-level names to iou3d.egg-info/top_level.txt
reading manifest file 'iou3d.egg-info/SOURCES.txt'
writing manifest file 'iou3d.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_ext
creating build/bdist.linux-x86_64/egg
copying build/lib.linux-x86_64-3.6/iou3d_cuda.cpython-36m-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/egg
creating stub loader for iou3d_cuda.cpython-36m-x86_64-linux-gnu.so
byte-compiling build/bdist.linux-x86_64/egg/iou3d_cuda.py to iou3d_cuda.cpython-36.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying iou3d.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying iou3d.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying iou3d.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying iou3d.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
writing build/bdist.linux-x86_64/egg/EGG-INFO/native_libs.txt
zip_safe flag not set; analyzing archive contents...
__pycache__.iou3d_cuda.cpython-36: module references __file__
creating dist
creating 'dist/iou3d-0.0.0-py3.6-linux-x86_64.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing iou3d-0.0.0-py3.6-linux-x86_64.egg
Traceback (most recent call last):
  File "setup.py", line 14, in <module>
    cmdclass={'build_ext': BuildExtension})
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/__init__.py", line 153, in setup
    return distutils.core.setup(**attrs)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/distutils/core.py", line 148, in setup
    dist.run_commands()
  File "/home/miniconda3/envs/autoshape/lib/python3.6/distutils/dist.py", line 955, in run_commands
    self.run_command(cmd)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/distutils/dist.py", line 974, in run_command
    cmd_obj.run()
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/install.py", line 67, in run
    self.do_egg_install()
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/install.py", line 117, in do_egg_install
    cmd.run(show_deprecation=False)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 408, in run
    self.easy_install(spec, not self.no_deps)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 650, in easy_install
    return self.install_item(None, spec, tmpdir, deps, True)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 695, in install_item
    dists = self.install_eggs(spec, download, tmpdir)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 855, in install_eggs
    return [install_dist(dist_filename, tmpdir)]
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 910, in install_egg
    dist = self.egg_distribution(egg_path)
  File "/home/miniconda3/envs/autoshape/lib/python3.6/site-packages/setuptools/command/easy_install.py", line 897, in egg_distribution
    metadata = EggMetadata(zipimport.zipimporter(egg_path))
zipimport.ZipImportError: not a Zip file: 'dist/iou3d-0.0.0-py3.6-linux-x86_64.egg'

Thanks for your great work. After reading the paper, I am still confused about how the 3d keypoints generate. I read the code, and find that the keypoints are directly reading from json. Is there any code for 3D Shape Auto-Labeling section ?