VoxelNet implementation in Chainer

Reference:

• VoxelNet link

Prepare datasets

KITTI dataset

• 3D Detection Dataset link
• (in data folder) train/val split link

cp data/*.txt dataset/ImageSets/

Execution

######## Training on the kitti dataset ########
python train.py experiments/orig_voxelnet/orig_voxelnet_single.yml

######## Evaluation on the kitti dataset ########
python evaluation.py experiments/orig_voxelnet/orig_voxelnet_eval.yml --gpu 0 --nms_thresh 0.5 --thresh 0.5

・Split gt and result files into train/val
python parse_dataset.py val.txt --gt_dir dataset/label_2/ --result_dir results/ --out_dir ../out/

・Provided on the KITTI competition
cd devkit_object/cpp
g++ -O3 -DNDEBUG -o evaluate_object evaluate_object.cpp -lboost_system -lboost_filesystem
cd ../.. && ./devkit_object/cpp/evaluate_object ./out/result ./out/gt

######## Inference on the kitti dataset ########
python demo.py experiments/orig_voxelnet/orig_voxelnet_demo.yml --gpu 0

######## Visualize on the kitti dataset ########
・Compate inputs for network by threshold
python visualize.py --type input --config experiments/orig_voxelnet/orig_voxelnet_viz.yml
・Calculate statistic of raw data
python visualize.py --type stats --config experiments/orig_voxelnet/orig_voxelnet_stats.yml

Compare inputs for network by threshold

Statistic of raw data

Requirement

• Python3
• Chainer
• Cupy
• ChainerCV
• OpenCV