Prerequisites

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
    └── ...

Training

bash train.sh

# computational-symmetry-in-AI-Robotics