This repository is based on OpenPCDet. All configurations and codes were revised for MORAI dataset.
Class accuracy is IoU(Intersection over Union).
Dataset | epoch | bbox AP(0.70) | bev AP(0.70) | bev AP(0.50) | 3d AP(0.70) | 3d AP(0.50) | aos | config | log | model |
---|---|---|---|---|---|---|---|---|---|---|
Real | 80 | 84.46 | 62.83 | 74.31 | 50.25 | 73.52 | 82.70 | config | [log] | [model] |
Daegu | 80 | 84.99 | 74.59 | 76.46 | 62.33 | 74.77 | 79.15 | config | [log] | [model] |
Daegu(Mix) | 80 | 89.15 | 82.55 | 82.95 | 79.16 | 82.95 | 85.35 | config | [log] | [model] |
Sejong BRT 1 | 80 | 83.83 | 69.59 | 70.00 | 64.84 | 69.88 | 80.02 | config | [log] | [model] |
Sejong BRT 1(Mix) | 80 | 81.18 | 70.19 | 70.45 | 61.56 | 70.21 | 76.22 | config | [log] | [model] |
Sangam Edge | 80 | 81.56 | 66.73 | 69.28 | 63.02 | 68.00 | 65.41 | config | [log] | [model] |
Sangam Edge(Mix) | 80 | 86.13 | 74.10 | 78.45 | 69.27 | 76.16 | 65.09 | config | [log] | [model] |
Sejong BRT 1 Edge | 80 | 77.42 | 47.88 | 51.16 | 45.33 | 48.04 | 73.58 | config | [log] | [model] |
Sejong BRT 1 Edge(Mix) | 80 | 88.93 | 80.99 | 81.34 | 80.39 | 81.31 | 85.76 | config | [log] | [model] |
Real:
Daegu:
Sejong BRT 1:
Sangam Edge:
Sejong BRT 1 Edge:
Please refer to install.md for installation, dataset preparation and making configuration file.
python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}
Example:
python test.py --cfg_file cfgs/custom_models/second.yaml --batch_size 4 --ckpt ../ckpt/custom_model/second_daegu.pth
python train.py --cfg_file ${CONFIG_FILE}
Example:
python train.py --cfg_file cfgs/custom_models/second.yaml
python demo.py --cfg_file ${CONFIG_FILE} \
--ckpt ${CKPT} \
--data_path ${POINT_CLOUD_DATA}
(--ext .npy)
Default --ext is .pcd. But custom point cloud is .npy
Example:
python demo.py --cfg_file cfgs/custom_models/second.yaml \
--ckpt ../ckpt/custom_model/second_daegu.pth \
--data_path ../data/custom/points/000000.npy
--ext .npy