LiGuihong / RL_GNN_3DOD

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We forked the code from the following GitHub repo:

https://github.com/Shudeng/Point-GNN.pytorch

We incorporate our RL algorithms on the above code base.

Prepare the python environment

conda create --name pointgnn python=3.8.12
conda activate pointgnn
conda install pytorch torchvision

Install torch-scatter according to your pytorch version following instructions in this url: https://github.com/rusty1s/pytorch_scatter

To install other dependencies:

pip3 install --user opencv-python
pip3 install --user open3d-python==0.7.0.0
pip3 install --user scikit-learn
pip3 install --user tqdm
pip3 install --user shapely

KITTI Dataset

We use the KITTI 3D Object Detection dataset. Please download the dataset from the KITTI website and also download the 3DOP train/val split here. We provide extra split files for seperated classes in splits/. We recommand the following file structure:

    DATASET_ROOT_DIR
    ├── image                    #  Left color images
    │   ├── training
    |   |   └── image_2            
    │   └── testing
    |       └── image_2 
    ├── velodyne                 # Velodyne point cloud files
    │   ├── training
    |   |   └── velodyne            
    │   └── testing
    |       └── velodyne 
    ├── calib                    # Calibration files
    │   ├── training
    |   |   └──calib            
    │   └── testing
    |       └── calib 
    ├── labels                   # Training labels
    │   └── training
    |       └── label_2
    └── 3DOP_splits              # split files.
        ├── train.txt
        ├── train_car.txt
        └── ...

Download Point-GNN

git clone https://github.com/LiGuihong/RL_GNN_3DOD.git

Prepare work dir

mkdir logs
mkdir saved_models
mkdir figs

Backbone Training

python3 trainrl.py configs/car_auto_T3_train_train_config configs/car_auto_T3_train_config \
  --dataset_root_dir /mnt/17b83cc4-8721-4108-b173-4fa1677ba5df/dataset/kitti --k_val=-1 --vote_idx=-1 

RL Training

python3 combining.py configs/car_auto_T3_train_train_config configs/car_auto_T3_train_config \
  --dataset_root_dir /mnt/17b83cc4-8721-4108-b173-4fa1677ba5df/dataset/kitti --k_val=-1 --vote_idx=-1 

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