semantic-kitti-api
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index -2147483648 is out of bounds for axis 0 with size 64
I use my own point cloud data,and convert PCD into bin file for testing and output labels, but I can't visualize it. What's the reason?
Sematickitti's data visualization succeeded
error:index -2147483648 is out of bounds for axis 0 with size 64
I met the same problem, too. In my situation, the error comes from the range image projection.
Maybe you should comment the range image visualization in auxiliary/laserscanvis.py.
Then, recheck your data and labels.
If the point xyz and label are correct, you can successfully get the result.
In my situation, I found that I should use ".astype('float32')" before saving the downsampling 16-beam point cloud. reference from here: https://stackoverflow.com/questions/10535687/write-a-raw-binary-file-with-numpy-array-data
Hey! I'm also on a project of my own dataset. So I'm very interest in how you get your predictions. Which net did you use and did you trained on it? May I have some suggestions?
To adapt to other sensors:
in laserscanvis.py
change lines 78, 79 to your sensor configuration.
in laserscan.py
change LaserScan __init__(...)
defaults to your sensor configuration.
in laserscan.py
change LaserScan open_scan(...)
make sure your file is loaded as float32.
in laserscan.py
change SemLaserScan __init__(...)
defaults to your sensor configuration.
Division by 0:
Change laserscan.py
line 127 to prevent NAN.
pitch = np.arcsin(scan_z / depth)
-> pitch = np.arcsin(scan_z / (depth + 1e-8))