jiang-muyun / pointnet12 Goto Github PK

@Jiang-Muyun
the code in data_utils/kitti_utils.py erase the 4th column

def calib_cam2cam(self, fn_c2c, mode = '02'):
    """
    If your image is 'rectified image' :get only Projection(P : 3x4) matrix is enough
    but if your image is 'distorted image'(not rectified image) :
        you need undistortion step using distortion coefficients(5 : D)
    In this code, only P matrix info is used for rectified image
    """
    # with open(fn_c2c, "r") as f: c2c_file = f.readlines()
    for line in open(fn_c2c, "r"):
        (key, val) = line.split(':', 1)
        if key == ('P_rect_' + mode):
            P = np.fromstring(val, sep=' ')
            P = P.reshape(3, 4)
            P = P[:3, :3]  # erase 4th column ([0,0,0])
    return P

but the 4th column of P_rect_02 in config/calib_cam_to_cam.txt is not 0.

P_rect_02: 
7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 
0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 
0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03

the wrong information is like below,thks!

Traceback (most recent call last):
  File "pcdvis.py", line 154, in <module>
    vis(args)
  File "pcdvis.py", line 116, in vis
    point_cloud, label = kitti_utils.get(part, index, load_image=True)
  File "/home/gz/桌面/3DCVcode/segmentation/PointNet12KiTTI/data_utils/kitti_utils.py", line 190, in get
    assert os.path.exists(fn_frame), 'Broken dataset %s' % (fn_frame)
AssertionError: Broken dataset /home/gz/桌面/3DCVcode/segmentation/SemanticKITTI/data/dataset/dataset/sequences/01/image_2/000000.png

the wrong information is like below,thks!

Traceback (most recent call last):
File "pcdvis.py", line 154, in
vis(args)
File "pcdvis.py", line 107, in vis
vis_handle = Window_Manager()
File "pcdvis.py", line 35, in init
self.vis.create_window(width=800, height=800, left=100)
RuntimeError: [Open3D ERROR] GLFW Error: GLX: Failed to create context: BadLength (poly request too large or internal Xlib length error)

I set the width and height to 400, but it doesn't work .

Your project is great. As a novice, I want to know which file semseg.py and file pcdseg.py is running the semantic segmentation program.

Hi,

Could you please upload the checkpoints folder with the pre-trained model files. These files are mentioned in the script pcdvis.py.

Broken dataset D:/KT/odometry/dataset/sequences/01/velodyne/000000.bin
I checked my dataset and there is no velodyne files.
The dataset i'm using is [Download odometry data set (color, 65 GB)]，Download odometry data set (velodyne laser data, 80 GB)
and symantic KITTI dataset.
After combining these datasets, it's finally running.

Hello, I am a new student, I saw the configuration instructions you left and would like to know in more detail about your version of pytorch and other configurations.

Hi Muyun, thank you so much for your work. I am running the code but I found that the test result for PointNet is too high and its miou reaches around 0.47. I know this is a project you did quite a long time ago, but I am wondering if you could remember something regarding the result you got? Any updates would be appreciated. Thanks!