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ATPPNet: Attention based Temporal Point cloud Prediction Network

This is a Pytorch-Lightning implementation of the paper "ATPPNet: Attention based Temporal Point cloud Prediction Network" submitted to ICRA 2024.

ATPPNet Architecture. ATPPNet leverages Conv-LSTM along with channel-wise and spatial attention dually complemented by a 3D-CNN branch for extracting an enhanced spatio-temporal context to recover high quality fidel predictions of future point clouds.

Table of Contents

  1. Installation
  2. Data
  3. Training
  4. Testing
  5. Download
  6. Acknowledgment

Installation

Clone this repository and run

cd atppnet
git submodule update --init

to install the Chamfer distance submodule. The Chamfer distance submodule is originally taken from here with some modifications to use it as a submodule. All parameters are stored in config/parameters.yaml.

In our project, all our dependencies are managed by miniconda. Use the following command to create the conda environment:

conda env create -f atppnet.yml

Then activate the environment using the command conda activate atppnet

Data

KITTI

Download the Kitti Odometry data from the official website.

We process the data in advance to speed up training. To prepare the dataset from the KITTI odometry dataset, set the value of GENERATE_FILES to true in config/parameters.yaml. The environment variable PCF_DATA_RAW points to the directory containing the train/val/test sequences specified in the config file. It can be set with

export PCF_DATA_RAW=/path/to/kitti-odometry/dataset/sequences

and the destination of the processed files PCF_DATA_PROCESSED is set with

export PCF_DATA_PROCESSED=/desired/path/to/processed/data/

nuScenes

Download the Lidar blobs for parts 1 and 2 and the metadata from the full dataset and map expansion pack(v1.0) from the official website

For preparing the nuScenes dataset, set up the folder structure in the following manner:

NuScenes
├── v1.0-test
│   ├── maps
│   ├── samples
│   │   └── LIDAR_TOP
│   ├── sweeps
│   │   └── LIDAR_TOP
│   └── v1.0-test
└── v1.0-trainval
    ├── maps
    ├── samples
    │   └── LIDAR_TOP
    ├── sweeps
    │   └── LIDAR_TOP
    └── v1.0-trainval

v1.0-test/samples and v1.0-test/sweeps contains the lidar scans from part 2 of the dataset, v1.0-test/v1.0-test contains the metadata files and v1.0-test/maps contains the data from map expansion pack. Similarly, v1.0-trainval/samples and v1.0-trainval/sweeps contains the lidar scans from part 1 of the dataset, v1.0-trainval/v1.0-trainval contains the metadata files and v1.0-trainval/maps contains the data from map expansion pack. In the parameters filr config/nuscenes_parameters.yml, change the value DATASET_PATH to the NuScenes folder described above, and the the value of SAVE_PATH to the destination of processed images.

Then run:

python -m atppnet.utils.process_nuscenes

Training

After following the data preparation tutorial, the model can be trained in the following way:

KITTI

The training script can be run by

python -m atppnet.train

using the parameters defined in config/parameters.yaml. Pass the flag --help if you want to see more options like resuming from a checkpoint or initializing the weights from a pre-trained model. A directory will be created in pcf/runs which makes it easier to discriminate between different runs and to avoid overwriting existing logs. The script saves everything like the used config, logs and checkpoints into a path pcf/runs/COMMIT/EXPERIMENT_DATE_TIME consisting of the current git commit ID (this allows you to checkout at the last git commit used for training), the specified experiment ID (pcf by default) and the date and time.

Example: pcf/runs/7f1f6d4/pcf_20211106_140014

7f1f6d4: Git commit ID

pcf_20211106_140014: Experiment ID, date and time

nuScenes

The training script on the nuScenes dataset can be run by

python -m atppnet.train_nuscenes

Testing

KITTI

Test your model by running

python -m atppnet.test -m COMMIT/EXPERIMENT_DATE_TIME

where COMMIT/EXPERIMENT_DATE_TIME is the relative path to your model in pcf/runs. Note: Use the flag -s if you want to save the predicted point clouds for visualiztion and -l if you want to test the model on a smaller amount of data.

Example

python -m atppnet.test -m 7f1f6d4/pcf_20211106_140014

or

python -m atppnet.test -m 7f1f6d4/pcf_20211106_140014 -l 5 -s

if you want to test the model on 5 batches and save the resulting point clouds.

nuScenes

Test your model by running

python -m atppnet.test_nuscenes -m COMMIT/EXPERIMENT_DATE_TIME

where COMMIT/EXPERIMENT_DATE_TIME is the relative path to your model in pcf/runs. Note: Use the flag -s if you want to save the predicted point clouds for visualiztion and -l if you want to test the model on a smaller amount of data.

Example

python -m atppnet.test_nuscenes -m 7f1f6d4/pcf_20211106_140014

or

python -m atppnet.test_nuscenes -m 7f1f6d4/pcf_20211106_140014 -l 5 -s

if you want to test the model on 5 batches and save the resulting point clouds.

Download

KITTI

Please download the model file for KITTI dataset from (here)[https://drive.google.com/file/d/1szIkdw917Fc7WKzZQxiXU1K-lY24CogC/view?usp=sharing]

nuScenes

Please download the model file for nuScenes dataset from (here)[https://drive.google.com/file/d/153DMNjYsGhdHllKRKnru0rc2q3ZtGuq5/view?usp=drive_link]

Acknowledgment

The codebase in this repo has been built on top of the amazing code base of TCNet by Benedikt Mersch, Andres Milioto and Christian Diller et al.