updae model weight on Rope3D dataset

ADLab-AutoDrive · Nov 6, 2023 · f5894ab · f5894ab
1 parent 653e9e0
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diff --git a/README.md b/README.md
@@ -88,7 +88,7 @@ python [EXP_PATH] --ckpt_path [CKPT_PATH] -e -b 8 --gpus 8
 
 
 - DAIR-V2X-I Dataset
-<div align=center>
+<div align=left>
 <table>
      <tr align=center>
         <td rowspan="3">Method</td> 
@@ -172,7 +172,73 @@ python [EXP_PATH] --ckpt_path [CKPT_PATH] -e -b 8 --gpus 8
         <td>61.03</td>
         <td><a href="https://cloud.tsinghua.edu.cn/f/9a0f179055724f5db6a3/?dl=1">model</a></td>
     </tr>
-
+<table>
+</div>
+
+- Rope3D Dataset
+<td><a href="https://cloud.tsinghua.edu.cn/f/f29279cebcbd4b3c8fb6/?dl=1">hom_train.pkl</a></td> <td><a href="https://cloud.tsinghua.edu.cn/f/3a9f3c7294794456b92d/?dl=1">hom_val.pkl</a></td>
+
+<div align=center>
+<table>
+     <tr align=center>
+        <td rowspan="2">Method</td> 
+        <td rowspan="2" align=center>Config File</td> 
+        <td rowspan="2" align=center>Range</td> 
+        <td colspan="3" align=center>Car | [email protected]</td>
+        <td colspan="3" align=center>Big Vehicle | [email protected]</td>
+        <td colspan="3" align=center>Car | [email protected]</td>
+        <td colspan="3" align=center>Big Vehicle | [email protected]</td>
+        <td rowspan="2" align=center>model pth</td>
+    </tr>
+    <tr align=center>
+        <td>Easy</td>
+        <td>Mod.</td>
+        <td>Hard</td>
+        <td>Easy</td>
+        <td>Mod.</td>
+        <td>Hard</td>
+        <td>Easy</td>
+        <td>Mod.</td>
+        <td>Hard</td>
+        <td>Easy</td>
+        <td>Mod.</td>
+        <td>Hard</td>
+    </tr>
+    <tr align=center>
+        <td rowspan="4">BEVHeight</td> 
+         <td><a href=exps/rope3d/bev_height_lss_r50_864_1536_128x128_102.py>R50_102</td>
+        <td>[0, 102.4]</td> 
+        <td>83.49</td>
+        <td>72.46</td>
+        <td>70.17</td>
+        <td>50.73</td>
+        <td>47.81</td>
+        <td>47.80</td>
+        <td>48.12</td>
+        <td>42.45</td>
+        <td>42.34</td>
+        <td>24.58</td>
+        <td>26.25</td>
+        <td>26.28</td>
+        <td><a href="https://cloud.tsinghua.edu.cn/f/fa3e2d07d62a44b7a337/?dl=1">model</a></td>
+    </tr>
+    <tr align=center>
+        <td><a href=exps/rope3d/bev_height_lss_r50_864_1536_128x128_140.py>R50_140</td>
+        <td>[0, 140.8]</td> 
+        <td>85.46</td>
+        <td>79.15</td>
+        <td>79.06</td>
+        <td>64.38</td>
+        <td>65.75</td>
+        <td>65.77</td>
+        <td>46.39</td>
+        <td>42.85</td>
+        <td>42.71</td>
+        <td>27.21</td>
+        <td>33.99</td>
+        <td>34.03</td>
+        <td><a href="https://cloud.tsinghua.edu.cn/f/343be049d5e74d14a5af/?dl=1">model</a></td>
+    </tr>
 </table>
 </div>
 

diff --git a/data/rope3d b/data/rope3d
@@ -1 +1 @@
-/proj/usr/lei.yang/Rope3D
+/proj/usr/lei.yang/Rope3D/
diff --git a/data/rope3d-kitti b/data/rope3d-kitti
@@ -0,0 +1 @@
+/proj/usr/lei.yang/rope3d-kitti/
diff --git a/exps/rope3d/bev_height_lss_r101_864_1536_256x256_102.py b/exps/rope3d/bev_height_lss_r101_864_1536_256x256_102.py
@@ -306,7 +306,7 @@ def train_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_train.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_train.pkl'),
             is_train=True,
             use_cbgs=self.data_use_cbgs,
             img_conf=self.img_conf,
@@ -334,7 +334,7 @@ def val_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_val.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_val.pkl'),
             is_train=False,
             img_conf=self.img_conf,
             num_sweeps=self.num_sweeps,
@@ -396,7 +396,7 @@ def run_cli():
     parser.set_defaults(
         profiler='simple',
         deterministic=False,
-        max_epochs=70,
+        max_epochs=20,
         accelerator='ddp',
         num_sanity_val_steps=0,
         gradient_clip_val=5,

diff --git a/exps/rope3d/bev_height_lss_r101_864_1536_256x256_140.py b/exps/rope3d/bev_height_lss_r101_864_1536_256x256_140.py
@@ -43,11 +43,11 @@
     'img_backbone_conf':
     dict(
         type='ResNet',
-        depth=50,
+        depth=101,
         frozen_stages=0,
         out_indices=[0, 1, 2, 3],
         norm_eval=False,
-        init_cfg=dict(type='Pretrained', checkpoint='torchvision://resnet50'),
+        init_cfg=dict(type='Pretrained', checkpoint='torchvision://resnet101'),
     ),
     'img_neck_conf':
     dict(
@@ -306,7 +306,7 @@ def train_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_train.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_train.pkl'),
             is_train=True,
             use_cbgs=self.data_use_cbgs,
             img_conf=self.img_conf,
@@ -334,7 +334,7 @@ def val_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_val.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_val.pkl'),
             is_train=False,
             img_conf=self.img_conf,
             num_sweeps=self.num_sweeps,
@@ -396,7 +396,7 @@ def run_cli():
     parser.set_defaults(
         profiler='simple',
         deterministic=False,
-        max_epochs=60,
+        max_epochs=20,
         accelerator='ddp',
         num_sanity_val_steps=0,
         gradient_clip_val=5,

diff --git a/exps/rope3d/bev_height_lss_r50_864_1536_128x128_102.py b/exps/rope3d/bev_height_lss_r50_864_1536_128x128_102.py
@@ -306,7 +306,7 @@ def train_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_train.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_train.pkl'),
             is_train=True,
             use_cbgs=self.data_use_cbgs,
             img_conf=self.img_conf,
@@ -334,7 +334,7 @@ def val_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_val.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_val.pkl'),
             is_train=False,
             img_conf=self.img_conf,
             num_sweeps=self.num_sweeps,
@@ -396,7 +396,7 @@ def run_cli():
     parser.set_defaults(
         profiler='simple',
         deterministic=False,
-        max_epochs=70,
+        max_epochs=20,
         accelerator='ddp',
         num_sanity_val_steps=0,
         gradient_clip_val=5,

diff --git a/exps/rope3d/bev_height_lss_r50_864_1536_128x128_140.py b/exps/rope3d/bev_height_lss_r50_864_1536_128x128_140.py
@@ -306,7 +306,7 @@ def train_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_train.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_train.pkl'),
             is_train=True,
             use_cbgs=self.data_use_cbgs,
             img_conf=self.img_conf,
@@ -334,7 +334,7 @@ def val_dataloader(self):
             ida_aug_conf=self.ida_aug_conf,
             classes=self.class_names,
             data_root=self.data_root,
-            info_path=os.path.join(data_root, 'rope3d_12hz_infos_val.pkl'),
+            info_path=os.path.join(data_root, 'rope3d_12hz_infos_hom_val.pkl'),
             is_train=False,
             img_conf=self.img_conf,
             num_sweeps=self.num_sweeps,
@@ -396,7 +396,7 @@ def run_cli():
     parser.set_defaults(
         profiler='simple',
         deterministic=False,
-        max_epochs=60,
+        max_epochs=20,
         accelerator='ddp',
         num_sanity_val_steps=0,
         gradient_clip_val=5,

diff --git a/scripts/gen_info_rope3d.py b/scripts/gen_info_rope3d.py
@@ -215,12 +215,13 @@ def main():
     rope3d_root = "data/rope3d"
     train_infos = generate_info_rope3d(rope3d_root, split='train')
     val_infos = generate_info_rope3d(rope3d_root, split='val')
+
     total_infos = train_infos + val_infos
     random.shuffle(total_infos)
     train_infos = total_infos[:int(0.7 * len(total_infos))]
     val_infos = total_infos[int(0.7 * len(total_infos)):]
-    mmcv.dump(train_infos, './data/rope3d/rope3d_12hz_infos_train.pkl')
-    mmcv.dump(train_infos, './data/rope3d/rope3d_12hz_infos_val.pkl')
+    mmcv.dump(train_infos, './data/rope3d/rope3d_12hz_infos_hom_train.pkl')
+    mmcv.dump(val_infos, './data/rope3d/rope3d_12hz_infos_hom_val.pkl')
 
 if __name__ == '__main__':
     main()
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		/proj/usr/lei.yang/Rope3D
		/proj/usr/lei.yang/Rope3D/