search

edwardzhou130 / Panoptic-PolarNet

Implementation for Panoptic-PolarNet (CVPR 2021)
BSD 3-Clause "New" or "Revised" License
169 stars 31 forks source link

Error while loading nuscenes dataset #17

Open kaxapatel opened 2 years ago

kaxapatel commented 2 years ago

Thank you for your response @edwardzhou130. I am trying as you told me but getting this error when I try to run dataloader. I have changed lidarseg to panopticseg in line 124 Screenshot from 2022-07-24 13-05-22 .

edwardzhou130 commented 2 years ago

The data format in panopticseg is different than lidarseg. You can go through nuScenes lidarseg and panoptic tutorial to understand how to load their data. You will need to modify the dataloader script for the panoptic segmentation task. For instance:

  1. panopticseg is saved as uint16 in a .npz file rather than uint8 in a .bin file.
  2. panopticseg saved the instance id and semantic label together as 1000*semantic + instance.
  3. You need to provide some mapping dicts for nuscenes like this in SemanticKITTI: https://github.com/edwardzhou130/Panoptic-PolarNet/blob/3a72f2380a4e505e191b69da596f521a9d9f1a71/semantic-kitti.yaml#L186-L206