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TODOS.md

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Big List Of TODOS

This summarises how far along the project is. The markings [ ], [~], and [x] denote an incomplete, partially complete, and completed task, respectively.

  • Data loading:
    • KITTI data tools and prep
    • Data augmentations for training:
      • Perturbation
      • Global scaling
      • Global rotation
  • [~] Feature learning network:
    • Partitioning points
    • Grouping points into voxelgrid
    • Sampling points within voxels
      • [~] (Sparse tensor representation using hash)
    • Augmenting voxel-cloud with offsets
    • VFE-n custom layers
      • Fully-connected component
      • Elementwise maxpool
      • Pointwise concatenation
      • VFE-n custom layer
    • VFE-out custom layer
  • Convolutional middle layers:
    • Convolutional middle block custom layer
    • Convolutional middle layers
  • Region proposal network:
    • RPN Convolutional Block custom layer
    • RPN network
  • [~] Loss function:
    • SmoothL1 loss function
    • Loss anchors
    • Loss custom layer
  • Training
  • Optimizations
    • [~] Sparse tensor representation
    • Sparse operations over tensors
  • [~] Fit CARLA lidar to KITTI specifications
  • [~] Integrate into CARLA