gangzhang842 / cpgnet

CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation

Official code for CPGNet

CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation, Xiaoyan Li, Gang Zhang, Hongyu Pan, Zhenhua Wang. Accepted by ICRA2022 (arXiv:2204.09914)

NEWS

[2022-02-01] CPGNet is accepted by ICRA 2022

1 Dependency

CUDA>=10.2
Pytorch>=1.8.0
[email protected]
[email protected]
nuscenes

2 Training Process

2.1 Installation

python3 setup.py install

2.2 Training Script

torchrun --master_port=12098 --nproc_per_node=4 train.py --config config/config_cpgnet_sgd_bili_sample_ohem_fp16.py

3 Evaluate Process

torchrun --master_port=12097 --nproc_per_node=4 evaluate.py --config config/config_cpgnet_sgd_bili_sample_ohem_fp16.py --start_epoch 0 --end_epoch 47

Citations

@inproceedings{li2022cpgnet,
  author={Li, Xiaoyan and Zhang, Gang and Pan, Hongyu and Wang, Zhenhua},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
  title={CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation}, 
  year={2022},
  volume={},
  number={},
  pages={11117-11123},
  doi={10.1109/ICRA46639.2022.9811767}
}

cpgnet's Issues

where the 'nuscenes_infos_train.pkl'

FileNotFoundError: [Errno 2] No such file or directory: 'E:\Downloads\nuscenes\nuscenes_infos_train.pkl'

senmatic kitti

能否公布在senmatic kitti上训练和测试的相关代码呢？

AssertionError: Table lidarseg not found

非常感谢您优秀的工作！我在复现时遇到如下问题：
Traceback (most recent call last):
File "F:/phd论文复现/CPGNet-master/train.py", line 196, in
main(args, config)
File "F:/phd论文复现/CPGNet-master/train.py", line 137, in main
train_dataset = eval('datasets.{}.DataloadTrain'.format(pDataset.Train.data_src))(pDataset.Train)
File "F:\phd论文复现\CPGNet-master\datasets\data.py", line 80, in init
fname_labels = os.path.join(self.nusc.dataroot, self.nusc.get('lidarseg', lidar_sd_token)['filename'])
File "E:\Anaconda\envs\python37\lib\site-packages\nuscenes\nuscenes.py", line 205, in get
assert table_name in self.table_names, "Table {} not found".format(table_name)
AssertionError: Table lidarseg not found
恳请您指教，非常感谢！

Nice work！

Congratulations for the acceptance of your paper! And can we expect an approximate code release time？

Code for CPGNet-LCF

Hi, Thanks for the great work! Do you plan to publish the code for the multimodal extension CPGNet-LCF?