voxel_classification

Voxel Classification of Airborne Particles

Data preparation

1. Download dataset from https://cloudstor.aarnet.edu.au/plus/s/oQwj9AkaLlqNU1a
2. Convert dataset using convert_dataset.py
3. Fill in paths in src/config.py
4. Generate voxel datasets from files using generate_dataset.py
5. Datasets can be visualised in Rviz (ROS) using visualise_dataset_pcl.py and visualise_dataset_voxel.py

Model Training

• Run train_model.py providing a training and validation dataset created above

Model Evaluation

• Evaluate any model using evaluate_model.py by providing a test dataset
• The results and predicted data is saved in the model folder under 'evaluations'
• The evaluation can be visualised in Rviz (ROS) using visualise_predicted_pcl.py