Getting Started

The dataset configs are located within tools/cfgs/det_dataset_configs, and the model configs are located within tools/cfgs/det_model_configs for different datasets.

Pre-trained checkpoint files can be downloaded from here.

Training & Testing

Train a model

You could optionally add extra command line parameters --batch_size ${BATCH_SIZE} and --epochs ${EPOCHS} to specify your preferred parameters.

sh scripts/dist_train.sh ${NUM_GPUS} --cfg_file ${CONFIG_FILE}

Test and evaluate the pretrained models

• Test with a pretrained model:

python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}

• To test with multiple GPUs:

sh scripts/dist_test.sh ${NUM_GPUS} \
    --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE}

Ev-Waymo

• Training

bash scripts/dist_train_mm.sh 0 1 --cfg_file cfgs/det_model_cfgs/waymo/LoGoNet-1f-small-only-position-cls-fg0.75-bg0.25.yaml --extra_tag waymo_stage2 --find_unused_parameters --pretrained_model $pretrained_waymo_stage1_path

• Testing

bash scripts/dist_test.sh 0,1 2 --ckpt $checkpoint_path --cfg_file cfgs/det_model_cfgs/waymo/LoGoNet-1f-small-only-position-cls-fg0.75-bg0.25.yaml --workers 0

DSEC-3DOD

• Training

bash scripts/dist_train_mm.sh 0 1 --cfg_file cfgs/det_model_cfgs/dsec/LoGoNet-1f-small-only-position-image0.5-event0.5-reg1.0.yaml --extra_tag dsec_stage2 --find_unused_parameters --pretrained_model $pretrained_dsec_stage1_path

• Testing

bash scripts/dist_test.sh 0,1 2 --ckpt $checkpoint_path --cfg_file  cfgs/det_model_cfgs/dsec/LoGoNet-1f-small-only-position-image0.5-event0.5-reg1.0.yaml --workers 0