How to evaluate KITTI ?

[iris0329]

Hi,

Thanks for sharing this demo, it's an amazing work !

In the kitti_predict.py, I found it only contains two functions, predicting the label and visualizing prediction results.
I didn't find the ground truth label of KITTI, Could you tell me where can I find it?
I only found this :

     # Load label. In pure test set, fill with zeros.
     self.labels = np.zeros(len(self.points)).astype(bool)

Thank you for your help.