Open3D-ML

地址

https://github.com/intel-isl/Open3D-ML

需要下载数据集：SemanticKITTI

先安装依赖项：

# To install a compatible version of TensorFlow
pip install -r requirements-tensorflow.txt
# To install a compatible version of PyTorch with CUDA
pip install -r requirements-torch-cuda.txt

可视化demo: 

import open3d.ml.torch as ml3d  # or open3d.ml.tf as ml3d

# construct a dataset by specifying dataset_path
dataset = ml3d.datasets.SemanticKITTI(dataset_path='/path/to/SemanticKITTI/')

# get the 'all' split that combines training, validation and test set
all_split = dataset.get_split('all')

# print the attributes of the first datum
print(all_split.get_attr(0))

# print the shape of the first point cloud
print(all_split.get_data(0)['point'].shape)

# show the first 100 frames using the visualizer
vis = ml3d.vis.Visualizer()
vis.visualize_dataset(dataset, 'all', indices=range(100))

有各种网络的比较结果和链接