zhangyp15 / simmod

Implementation of SimMOD: A Simple Baseline for Multi-Camera 3D Object Detection

SimMOD

Implementation of SimMOD: A Simple Baseline for Multi-Camera 3D Object Detection. (AAAI 2023)

Arxiv

Installation

Check installation for installation.

Data Preparation

Check data_preparation for preparing the nuScenes dataset.

Getting Started

To train SimMOD with 8 GPUs, run:

bash tools/dist_train.sh $CONFIG 8

For evaluation, use:

bash tools/dist_test.sh $CONFIG $CKPT 8 --eval=bbox

We provide the pretrained models for SimMOD.

Method	Pretrain	mAP	NDS	Log	Weights
SimMOD-r50	ImageNet	33.1	42.7	log	model
SimMOD-r101	ImageNet	34.9	43.1	log	model
SimMOD-r101	FCOS3D	37.0	45.4	log	model
SimMOD-r101	NuImg	37.6	46.1	log	model

Acknowledgement

This project is mainly based on DETR3D. Thanks for their great work.

If you find this repo useful for your research, please consider citing the paper:

@article{zhang2022simple,
  title={A Simple Baseline for Multi-Camera 3D Object Detection},
  author={Zhang, Yunpeng and Zheng, Wenzhao and Zhu, Zheng and Huang, Guan and Zhou, Jie and Lu, Jiwen},
  journal={arXiv preprint arXiv:2208.10035},
  year={2022}
}

simmod's Issues

config中LoadAnnotations3D的with_tokens与mmdet3d不匹配

您好，感谢您出色的工作。运行代码时报错TypeError: LoadAnnotations3D: init() got an unexpected keyword argument 'with_tokens'

config中LoadAnnotations3D有with_tokens参数，而对应版本的mmdet3d中的LoadAnnotations3D没有这个参数，我的mmdet和mmdet3d是按照MMDetection==2.14.0，MMDetection3D==0.17.2配置的。
所以会报错TypeError: LoadAnnotations3D: init() got an unexpected keyword argument 'with_tokens'，所以这个参数是多余的吗？或者是mmdet3d要选择另外的版本呢？
期待您的回复。

@PIPELINES.register_module()

class LoadAnnotations3D(LoadAnnotations):

def __init__(self,
             with_bbox_3d=True,
             with_label_3d=True,
             with_attr_label=False,
             with_mask_3d=False,
             with_seg_3d=False,
             with_bbox=False,
             with_label=False,
             with_mask=False,
             with_seg=False,
             with_bbox_depth=False,
             poly2mask=True,
             seg_3d_dtype='int',
             file_client_args=dict(backend='disk')):
    super().__init__(
        with_bbox,
        with_label,
        with_mask,
        with_seg,
        poly2mask,
        file_client_args=file_client_args)
    self.with_bbox_3d = with_bbox_3d
    self.with_bbox_depth = with_bbox_depth
    self.with_label_3d = with_label_3d
    self.with_attr_label = with_attr_label
    self.with_mask_3d = with_mask_3d
    self.with_seg_3d = with_seg_3d
    self.seg_3d_dtype = seg_3d_dtype