Code for "FPS-Net: A convolutional fusion network for large-scale LiDAR point cloud segmentation".

Last update: Nov 30, 2022

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Overview

FPS-Net

Code for "FPS-Net: A convolutional fusion network for large-scale LiDAR point cloud segmentation", accepted by ISPRS journal of Photogrammetry and Remote Sensing
By Aoran Xiao, Xiaofei Yang, Shijian Lu, Dayan Guan, Jiaxing Huang

Full Paper

Install

conda create -n FPSNet python=3.7
source activate FPSNet
cd /ROOT/
pip install -r requirements.txt

Train

cd /train/tasks/semantic
sh train.sh

Inference and Test

cd /train/tasks/semantic
sh test.sh

Citation

If you use this code, please cite:

@article{xiao2021fps,
  title={FPS-Net: A convolutional fusion network for large-scale LiDAR point cloud segmentation},
  author={Xiao, Aoran and Yang, Xiaofei and Lu, Shijian and Guan, Dayan and Huang, Jiaxing},
  journal={ISPRS Journal of Photogrammetry and Remote Sensing},
  volume={176},
  pages={237--249},
  year={2021},
  publisher={Elsevier}
}

Acknowledgement

Code borrowed heavily from lidar-bonnetal, thanks for their sharing!

Comments

What is the structure of the dataset？

After I downloaded the code from the website, it did get an error. The reason is that the sequences folder under my data folder is empty. I didn't see the relevant content of the dataset from the README. I want to know that this error is due to me Is it caused by not preparing the data set, and what are the requirements for the data set of the code?

opened by yuyunlong2002 4
A question about depth and xyz

Hello, I want to ask why we should use depth and xyz at the same time. I observed in your code that the depth is calculated using xyz（depth=np.linalg.norm(self.points, 2, axis=1)）, so there is a correlation between the two. Why do we use depth when using xyz , is there any result indicating that using depth and xyz simultaneously will have better effect?

opened by yuyunlong2002 2
A bug occurred when running infer.py in test.sh

Sorry to bother you again，When I running your input in test.sh an error occurred in the. py file. There are four variables assigned to a line of code (including proj_output, range_feat, zxy_feat, and resission_feat), but the actual return value of the function is only one (y). I see in your function body that a line of commented content returns four values. How can I solve this problem? code：https://github.com/xiaoaoran/FPS-Net/blob/main/train/tasks/semantic/modules/user.py#L138

Function body return：https://github.com/xiaoaoran/FPS-Net/blob/main/train/tasks/semantic/modules/segmentator.py#L166

error：

opened by yuyunlong2002 2
A problem about the projection of heterogeneous modal graphs in networks

Hello, I would like to ask where is the content in the code about converting 3D data into 2D images of different modes you said in your paper，In the FPS net diagram you built, the following parts are shown:

opened by yuyunlong2002 2
A question about the SemanticKITTI dataset

Hello,sry to bother you again, but as a KITTI beginner, a question bother me for a long time. Is the coordinate system of KITTI point cloud data based on the 3D laser scanner? If so, shouldn't the origin coordinates of a frame of point cloud change instantaneously when the car is moving (the 3D laser scanner will move with the car moving at every moment), because the scanning frequency is too fast and KITTI data ignores this local coordinate system?

opened by yuyunlong2002 1

Owner

Ph.D. student

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