Can't understand eval metrics

[Twizwei]

Hi there, many thanks for sharing this code! I'm new to Kitti and I just successfully ran the code on my detection result. However, I don't quite understand the result given by your evaluation code. Why are there 2 sets of results for each class? Also, I understand values like 0.7, 0.5 are thresholds for IoU, but why we should consider multiple thresholds for each class? For instance, Car AP(Average Precision)@0.70, 0.70, 0.70: bbox AP:100.00, 100.00, 100.00 bev AP:2.69, 1.97, 2.40 3d AP:1.82, 1.23, 1.46 Car AP(Average Precision)@0.70, 0.50, 0.50: bbox AP:100.00, 100.00, 100.00 bev AP:12.77, 12.40, 11.82 3d AP:11.19, 8.34, 10.00

Thanks in advance for your attention!

[Petros626]

It's three columns Easy, Moderate, Hard. See here too https://github.com/open-mmlab/OpenPCDet/issues/432#issuecomment-860543113