custom learning map support (semantic kitti)?

[juliangaal]

Thank you for this great repo!

I have a couple of questions regarding training, inference and learning map from semantic-kitti.yaml. The number of classes are hard coded in cfgs/<MODEL>.yaml and semantickitti_utils.py, while the class probabilities (See 'content' in this config file) are not used for loss regularization? Did I understand this correctly?

For example, SalsaNext accepts a user specified semantic-kitti.yaml that contains learning map, class probabilities, color information etc during training. For inference, the same file has to be used for accurate results. Do you plan on supporting this? I am willing to help you with this, under the assumption that I understand your codebase correctly

Update: found the hardcoded weights