larskreuzberg / 4d-stop Goto Github PK
View Code? Open in Web Editor NEWOfficial code for "4D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregation"
Official code for "4D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregation"
Hi, thank you for the great work! In the code I saw options to run on nuScenes dataset. Seems like you converted the nuScenes dataset to the SemanticKITTI format. I did not find existing tools to do this on the internet. May I ask how you did this? Could you share the converted nuScenes dataset or your code to convert the dataset? Thank you again!
Hello and thanks a lot for sharing your code !
Do you plan to share the network weights ?
I tried training the network but I only have 8 GiB of GPU memory available, do you think there is a choice of parameter that would be suitable ? It tried reducing batch_num but it does not seems to be sufficient.
In the supplementary material of the paper you compare the speed of 4D-PLS and 4D-StOP. You mention reporting the time in scan per second, but the legend of the graph is in seconds per scan ? Which is the correct one ?
I assume seconds per scan is the right one as 4 scans-based methods should be slower than 2 scans based methods.
Does it mean 4-PLS and 4D-StOP would run at best at 0.35FPS in an online setting ?
Hi,
While using "create_center_label.py" to build .pny files, it is different to 4D PLS below code.
StOP:
center_labels = np.zeros((new_points.shape[0], 1))
PLS:
center_labels = np.zeros((new_points.shape[0], 4))
After created .npy files, I tried to train StOP , but encountered the following error in 'SemanticKitti.py" code(merged_coords = np.vstack((merged_coords, new_coords))).
"ValueError: all the input array dimensions for the concatenation axis must match exactly, but along dimension 1, the array at index 0 has size 9 and the array at index 1 has size 6"
Could you help me how to fix it?
Thanks.
Thanks for your excellent work!
But I encountered problems when I created the conda environment as you mentioned conda create --name 4dstopp --file requirements.txt
. But it failed with following output:
Collecting package metadata (current_repodata.json): done
Solving environment: failed with repodata from current_repodata.json, will retry with next repodata source.
Collecting package metadata (repodata.json): done
Solving environment: failed
PackagesNotFoundError: The following packages are not available from current channels:
- pointnet2==0.0.0=pypi_0
- importlib-metadata==4.11.3=pypi_0
- pandocfilters==1.4.2=pypi_0
- rsa==4.8=pypi_0
- vtk==8.1.2=pypi_0
- bleach==3.1.5=pypi_0
- fire==0.4.0=pypi_0
- entrypoints==0.3=pypi_0
- torchdiffeq==0.1.0=pypi_0
- a==1.0=pypi_0
- tensorboard-data-server==0.6.1=pypi_0
- joblib==0.14.1=pypi_0
- protobuf==3.20.0=pypi_0
- nbformat==5.0.6=pypi_0
- traitlets==4.3.3=pypi_0
- scikit-learn==0.22.2.post1=pypi_0
- nuscenes-devkit==1.1.9=pypi_0
- ffmpeg==4.3=hf484d3e_0
- pexpect==4.8.0=pypi_0
- zipp==3.1.0=pypi_0
- open3d==0.9.0.0=pypi_0
- parso==0.7.0=pypi_0
- prompt-toolkit==3.0.5=pypi_0
- ipykernel==5.2.1=pypi_0
- google-auth==2.6.2=pypi_0
- glfw==1.11.2=pypi_0
- scipy==1.4.1=pypi_0
- terminado==0.8.3=pypi_0
- pyzmq==19.0.1=pypi_0
- tornado==6.0.4=pypi_0
- jinja2==2.11.2=pypi_0
- traits==6.0.0=pypi_0
- traitsui==7.0.0=pypi_0
- pyqt5==5.14.0=pypi_0
- pyasn1-modules==0.2.8=pypi_0
- defusedxml==0.6.0=pypi_0
- grpcio==1.44.0=pypi_0
- kiwisolver==1.2.0=pypi_0
- numpy==1.18.4=pypi_0
- ipython-genutils==0.2.0=pypi_0
- decorator==4.4.2=pypi_0
- mistune==0.8.4=pypi_0
- jupyter-core==4.6.3=pypi_0
- nbconvert==5.6.1=pypi_0
- descartes==1.1.0=pypi_0
- configobj==5.0.6=pypi_0
- future==0.18.2=pypi_0
- apptools==4.5.0=pypi_0
- pytorch==1.10.2=py3.7_cuda11.3_cudnn8.2.0_0
- six==1.14.0=pypi_0
- send2trash==1.5.0=pypi_0
- msgpack-python==0.5.6=pypi_0
- envisage==4.9.2=pypi_0
- jedi==0.17.0=pypi_0
- miniball==1.1.0=pypi_0
- pillow==7.1.2=pypi_0
- werkzeug==2.1.1=pypi_0
- backcall==0.1.0=pypi_0
- vispy==0.6.4=pypi_0
- packaging==20.3=pypi_0
- ipython==7.14.0=pypi_0
- pyparsing==2.4.7=pypi_0
- attrs==19.3.0=pypi_0
- pyface==7.0.0=pypi_0
- testpath==0.4.4=pypi_0
- gnureadline==8.0.0=pypi_0
- umsgpack==0.1.0=pypi_0
- ptyprocess==0.6.0=pypi_0
- tensorboard-plugin-wit==1.8.1=pypi_0
- jsonschema==3.2.0=pypi_0
- markupsafe==1.1.1=pypi_0
- notebook==6.0.3=pypi_0
- threadpoolctl==3.1.0=pypi_0
- pyqt5-sip==12.7.2=pypi_0
- requests-oauthlib==1.3.1=pypi_0
- pyviz3d==0.2.28=pypi_0
- opencv-python==4.5.5.64=pypi_0
- pytorch-mutex==1.0=cuda
- widgetsnbextension==3.5.1=pypi_0
- pyyaml==5.3.1=pypi_0
- webencodings==0.5.1=pypi_0
- torch==1.5.0=pypi_0
- torchaudio==0.10.2=py37_cu113
- pycocotools==2.0.4=pypi_0
- python-dateutil==2.8.1=pypi_0
- pyopengl==3.1.5=pypi_0
- torchvision==0.6.0=pypi_0
- pygments==2.6.1=pypi_0
- ipywidgets==7.5.1=pypi_0
- nvidia-ml-py3==7.352.0=pypi_0
- oauthlib==3.2.0=pypi_0
- cycler==0.10.0=pypi_0
- markdown==3.3.6=pypi_0
- matplotlib==3.2.1=pypi_0
- shapely==1.8.1.post1=pypi_0
- cachetools==5.0.0=pypi_0
- filterpy==1.4.5=pypi_0
- pickleshare==0.7.5=pypi_0
- tensorboard==2.8.0=pypi_0
- pyrsistent==0.16.0=pypi_0
- imgui==1.1.0=pypi_0
- freetype-py==2.1.0.post1=pypi_0
- jupyter-client==6.1.3=pypi_0
- wcwidth==0.1.9=pypi_0
- absl-py==1.0.0=pypi_0
- google-auth-oauthlib==0.4.6=pypi_0
- prometheus-client==0.7.1=pypi_0
- termcolor==1.1.0=pypi_0
- tqdm==4.48.2=pypi_0
- pyquaternion==0.9.9=pypi_0
- pyasn1==0.4.8=pypi_0
Current channels:
- https://repo.anaconda.com/pkgs/main/linux-64
- https://repo.anaconda.com/pkgs/main/noarch
- https://repo.anaconda.com/pkgs/r/linux-64
- https://repo.anaconda.com/pkgs/r/noarch
- https://conda.anaconda.org/conda-forge/linux-64
- https://conda.anaconda.org/conda-forge/noarch
To search for alternate channels that may provide the conda package you're
looking for, navigate to
https://anaconda.org
and use the search bar at the top of the page.
I don't know how to solve this problem, I struggled by following this "solution", but it also failed with following output:
The environment is inconsistent, please check the package plan carefully
The following packages are causing the inconsistency:
- defaults/linux-64::libgcc-ng==9.3.0=h5101ec6_17
- defaults/linux-64::libwebp-base==1.2.2=h7f8727e_0
- defaults/linux-64::libidn2==2.3.2=h7f8727e_0
- defaults/noarch::pyopenssl==22.0.0=pyhd3eb1b0_0
- defaults/linux-64::gmp==6.2.1=h2531618_2
- defaults/linux-64::lcms2==2.12=h3be6417_0
- defaults/noarch::requests==2.27.1=pyhd3eb1b0_0
- defaults/linux-64::numpy==1.21.5=py37he7a7128_2
- defaults/linux-64::libiconv==1.15=h63c8f33_5
- defaults/linux-64::libffi==3.3=he6710b0_2
- defaults/linux-64::sqlite==3.38.5=hc218d9a_0
- defaults/linux-64::giflib==5.2.1=h7b6447c_0
- defaults/linux-64::bzip2==1.0.8=h7b6447c_0
- defaults/linux-64::openh264==2.1.1=h4ff587b_0
- defaults/linux-64::mkl_fft==1.3.1=py37hd3c417c_0
- defaults/noarch::charset-normalizer==2.0.4=pyhd3eb1b0_0
- defaults/linux-64::xz==5.2.5=h7f8727e_1
- defaults/linux-64::ninja==1.10.2=py37hd09550d_3
- defaults/linux-64::zstd==1.4.9=haebb681_0
- defaults/linux-64::cudatoolkit==11.3.1=h2bc3f7f_2
- defaults/linux-64::libstdcxx-ng==9.3.0=hd4cf53a_17
- defaults/linux-64::pysocks==1.7.1=py37_1
- defaults/linux-64::mkl_random==1.2.2=py37h51133e4_0
- defaults/linux-64::gnutls==3.6.15=he1e5248_0
- conda-forge/linux-64::python_abi==3.7=2_cp37m
- defaults/linux-64::certifi==2022.9.24=py37h06a4308_0
- defaults/noarch::pycparser==2.21=pyhd3eb1b0_0
- defaults/linux-64::libtiff==4.2.0=h85742a9_0
- defaults/linux-64::brotlipy==0.7.0=py37h27cfd23_1003
- defaults/noarch::typing_extensions==4.1.1=pyh06a4308_0
- defaults/linux-64::cffi==1.15.0=py37hd667e15_1
- defaults/linux-64::lame==3.100=h7b6447c_0
- defaults/linux-64::pip==22.2.2=py37h06a4308_0
- defaults/linux-64::ncurses==6.3=h7f8727e_2
- defaults/linux-64::libunistring==0.9.10=h27cfd23_0
- defaults/noarch::wheel==0.37.1=pyhd3eb1b0_0
- defaults/linux-64::lz4-c==1.9.3=h295c915_1
- defaults/linux-64::openssl==1.1.1q=h7f8727e_0
- conda-forge/noarch::olefile==0.46=pyh9f0ad1d_1
- defaults/linux-64::cryptography==36.0.0=py37h9ce1e76_0
- defaults/linux-64::freetype==2.11.0=h70c0345_0
- defaults/linux-64::libpng==1.6.37=hbc83047_0
- defaults/linux-64::python==3.7.13=h12debd9_0
- defaults/linux-64::tk==8.6.12=h1ccaba5_0
- defaults/linux-64::numpy-base==1.21.5=py37hf524024_2
- defaults/linux-64::libuv==1.40.0=h7b6447c_0
- conda-forge/linux-64::openjpeg==2.4.0=hb52868f_1
- defaults/linux-64::mkl-service==2.4.0=py37h7f8727e_0
- defaults/linux-64::setuptools==65.5.0=py37h06a4308_0
- defaults/noarch::idna==3.3=pyhd3eb1b0_0
- defaults/linux-64::urllib3==1.26.12=py37h06a4308_0
- defaults/linux-64::nettle==3.7.3=hbbd107a_1
- defaults/linux-64::libtasn1==4.16.0=h27cfd23_0
- defaults/linux-64::zlib==1.2.12=h7f8727e_2
- defaults/linux-64::jpeg==9b=h024ee3a_2
- defaults/linux-64::readline==8.1.2=h7f8727e_1
- defaults/noarch::six==1.16.0=pyhd3eb1b0_1 done
I'm really hope that I can get your help!
Thanks again!
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.