panda_changes.md

Changes for RangeNet++ and Pandaset

Requirements

Specified in the file requirements.txt

Usage

./infer_panda.py -d /path/to/dataset/ -l /path/for/predictions -m /path/to/model

Dataloader

Add pandaset folder in train/tasks/semantic/dataset/pandaset

• parser.py: create pandaset dataloader for pandaset format

• laserscan.py:

  • add packages
  • add label map from pandaset to kitti
  • changed data extensions
  • add open_scan_panda function to load data
  • modified open_label function
  • correct np.float to np.float32

Inference

• user.py: changed output path for predictions

• infer_panda.py: modified infer.py to run inference on pandaset