OpenPCDet series | 4. Dataset data loading process

Data loading process

Here is a record of the specific data forms used. The processing frame diagram of the entire kitti data set is as follows:

The entry of the entire process from data set processing to obtaining a batch of data is as follows:

# 开始迭代每批次数据集数据
for cur_it in range(start_it, total_it_each_epoch):