ImageSets - Describes the segmentation of the raw dataset. Put in the root directory of your KITTY dataset.
planes.tar.gz - Contains the ground data. Unzip and put in the training directory of your KITTY dataset.
pointpillar_7728.pth - A checkpoint for testing.
test.bin - A point cloud sample file for testing.
After patching, the directory structure should be like:
KITTI
├── ImageSets
│ ├── test.txt
│ ├── train.txt
│ ├── trainval.txt
│ └── val.txt
├── testing
│ ├── calib
│ ├── image_2
│ └── velodyne
└── training
├── calib
├── image_2
├── label_2
├── planes
└── velodyne