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princeton-computational-imaging / SeeingThroughFog

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Training object detector on lidar #45

Open connorlee77 opened 3 years ago

connorlee77 commented 3 years ago

Has anyone successfully trained an object detector (yolov3, ssd, etc...) on just lidar_hdl64_last_stereo_left or lidar_hdl64_strong_stereo_left? I'm getting pretty trash results, which I believe is due to the sparsity of the points. Anyone got tips for training?

MartinHahner commented 3 years ago

Yes, I was able to train models using the OpenPCDet repository. I converted the KittiDataset class and used this calib.txt.

I currently have a submission under review, so I am not willing to share my code yet, but if it gets accepted, we plan to make the code public.

Hope this helps for now.

connorlee77 commented 3 years ago

Interesting. Just to clarify, you were able to train good models using just the intensity data specifically from lidar_hdl64laststereo_left rather than the 3d point clouds in lidar_hdl64_last?

MartinHahner commented 3 years ago

I used lidar_hdl64_strongest (and lidar_hdl64_last).

barzanisar commented 2 years ago

Hey @MartinHahner can you please share your modified kitti_dataset.py, pv_rcnn.yaml/pointpillars.yaml and dataset config files for seeing through fog? Thanks!

kyrie-louy commented 2 years ago

Hey @MartinHahner, could you please share your modified kitti_dataset.py, model/dataset config files for the SeeingThroughFog dataset if possible? Many thanks!

Yes, I was able to train models using the OpenPCDet repository. I converted the KittiDataset class and used this calib.txt.

I currently have a submission under review, so I am not willing to share my code yet, but if it gets accepted, we plan to make the code public.

Hope this helps for now.

MartinHahner commented 2 years ago

@barzanisar Do you have a clean version that you can share?

barzanisar commented 2 years ago

Here is the clean version: https://github.com/barzanisar/OpenPCDet/tree/STF_cc I only trained with pv_rcnn.yaml Other model cfg files need to have matching class names: ['PassengerCar', 'Pedestrian', 'RidableVehicle']

kyrie-louy commented 2 years ago

Here is the clean version: https://github.com/barzanisar/OpenPCDet/tree/STF_cc I only trained with pv_rcnn.yaml Other model cfg files need to have matching class names: ['PassengerCar', 'Pedestrian', 'RidableVehicle']

Many thanks for your replies @barzanisar @MartinHahner. It helps a lot!

hy3121 commented 2 years ago

Should this programme run on Ubuntu System?