The PyTorch Implementation based on YOLOv4 of the paper: YOLO3D: End-to-end real-time 3D Oriented Object Bounding Box Detection from LiDAR Point Cloud (ECCV 2018)
- Inputs: Bird-eye-view (BEV) maps that are encoded by height, intensity and density of 3D LiDAR point clouds.
- The input size: 608 x 608 x 3
- Outputs: 7 degrees of freedom (7-DOF) of objects:
(cx, cy, cz, l, w, h, θ)cx, cy, cz: The center coordinates.l, w, h: length, width, height of the bounding box.θ: The heading angle in radians of the bounding box.
- Objects: Cars, Pedestrians, Cyclists.
- Realtime 3D object detection based on YOLOv4
- Support distributed data parallel training
- Tensorboard
- Mosaic/Cutout augmentation for training
pip install -U -r requirements.txtFor mayavi and shapely
libraries, please refer to the installation instructions from their official websites.
Download the 3D KITTI detection dataset from here.
The downloaded data includes:
- Velodyne point clouds (29 GB): input data to the YOLO3D model
- Training labels of object data set (5 MB): input label to the YOLO3D model
- Camera calibration matrices of object data set (16 MB): for visualization of predictions
- Left color images of object data set (12 GB): for visualization of predictions
Please make sure that you construct the source code & dataset directories structure as below.
This work has been based on the paper YOLOv4: Optimal Speed and Accuracy of Object Detection.
| Backbone | Detector | |
|---|---|---|
| BoF | [x] Dropblock [x] Random rescale, rotation (global) [x] Mosaic/Cutout augmentation |
[x] Cross mini-Batch Normalization [x] Dropblock [x] Random training shapes |
| BoS | [x] Mish activation [x] Cross-stage partial connections (CSP) [x] Multi-input weighted residual connections (MiWRC) |
[x] Mish activation [x] SPP-block [x] SAM-block [x] PAN path-aggregation block |
cd src/data_process- To visualize BEV maps and camera images (with 3D boxes), let's execute (the
output-widthparam can be changed to show the images in a bigger/smaller window):
python kitti_dataloader.py --output-width 608- To visualize the
cutout augmentation, let's execute:
python kitti_dataloader.py --show-train-data --cutout_prob 1. --cutout_nholes 1 --cutout_fill_value 1. --cutout_ratio 0.3 --output-width 608Download the trained model from here,
then put it to ${ROOT}/checkpoints/ and execute:
python test.py --gpu_idx 0 --pretrained_path ../checkpoints/yolo3d_yolov4.pth --cfgfile ./config/cfg/yolo3d_yolov4.cfg python evaluate.py --gpu_idx 0 --pretrained_path <PATH> --cfgfile <CFG> --img_size <SIZE> --conf-thresh <THRESH> --nms-thresh <THRESH> --iou-thresh <THRESH>(The conf-thresh, nms-thresh, and iou-thresh params can be adjusted. By default, these params have been set to 0.5)
python train.py --gpu_idx 0 --batch_size <N> --num_workers <N>...We should always use the nccl backend for multi-processing distributed training since it currently provides the best
distributed training performance.
- Single machine (node), multiple GPUs
python train.py --dist-url 'tcp://127.0.0.1:29500' --dist-backend 'nccl' --multiprocessing-distributed --world-size 1 --rank 0- Two machines (two nodes), multiple GPUs
First machine
python train.py --dist-url 'tcp://IP_OF_NODE1:FREEPORT' --dist-backend 'nccl' --multiprocessing-distributed --world-size 2 --rank 0Second machine
python train.py --dist-url 'tcp://IP_OF_NODE2:FREEPORT' --dist-backend 'nccl' --multiprocessing-distributed --world-size 2 --rank 1To reproduce the results, you can run the bash shell script
./train.sh- To track the training progress, go to the
logs/folder and
cd logs/<saved_fn>/tensorboard/
tensorboard --logdir=./- Then go to http://localhost:6006/:
If you think this work is useful, please give me a star!
If you find any errors or have any suggestions, please contact me (Email: nguyenmaudung93.kstn@gmail.com).
Thank you!
@article{YOLOv4,
author = {Alexey Bochkovskiy, Chien-Yao Wang, Hong-Yuan Mark Liao},
title = {YOLOv4: Optimal Speed and Accuracy of Object Detection},
year = {2020},
journal = {arXiv},
}
@article{YOLO3D,
author = {Waleed Ali, Sherif Abdelkarim, Mohamed Zahran, Mahmoud Zidan, Ahmad El Sallab},
title = {YOLO3D: End-to-end real-time 3d oriented object bounding box detection from lidar point cloud},
year = {2018},
conference = {ECCV 2018},
}
@misc{YOLO3D-YOLOv4-PyTorch,
author = {Nguyen Mau Dung},
title = {{YOLO3D-YOLOv4-PyTorch: PyTorch Implementation of based on YOLOv4 of YOLO3D paper}},
howpublished = {\url{https://github.com/maudzung/YOLO3D-YOLOv4-PyTorch}},
year = {2020}
}${ROOT}
└── checkpoints/
│ ├── yolo3d_yolov4.pth
└── dataset/
│ └── kitti/
│ │ ├──ImageSets/
│ │ │ ├── test.txt
│ │ │ ├── train.txt
│ │ │ └── val.txt
│ │ ├── training/
│ │ │ ├── image_2/ <-- for visualization
│ │ │ ├── calib/
│ │ │ ├── label_2/
│ │ │ └── velodyne/
│ │ └── testing/
│ │ │ ├── image_2/ <-- for visualization
│ │ │ ├── calib/
│ │ │ └── velodyne/
│ │ └── classes_names.txt
└── src/
│ ├── config/
│ │ ├── cfg/
│ │ │ ├── yolo3d_yolov4.cfg
│ │ │ ├── yolo3d_yolov4_tiny.cfg
│ │ ├── train_config.py
│ │ └── kitti_config.py
│ ├── data_process/
│ │ ├── kitti_bev_utils.py
│ │ ├── kitti_dataloader.py
│ │ ├── kitti_dataset.py
│ │ ├── kitti_data_utils.py
│ │ └── transformation.py
│ ├── models/
│ │ ├── darknet2pytorch.py
│ │ ├── darknet_utils.py
│ │ ├── model_utils.py
│ │ ├── yolo_layer.py
│ └── utils/
│ │ ├── evaluation_utils.py
│ │ ├── iou_utils.py
│ │ ├── logger.py
│ │ ├── misc.py
│ │ ├── torch_utils.py
│ │ ├── train_utils.py
│ │ └── visualization_utils.py
│ ├── evaluate.py
│ ├── test.py
│ ├── test.sh
│ ├── train.py
│ └── train.sh
├── README.md
└── requirements.txt
python train.py --help
usage: train.py [-h] [--seed SEED] [--saved_fn FN] [--root-dir PATH]
[-a ARCH] [--cfgfile PATH] [--pretrained_path PATH]
[--use_giou_loss] [--img_size IMG_SIZE]
[--hflip_prob HFLIP_PROB] [--cutout_prob CUTOUT_PROB]
[--cutout_nholes CUTOUT_NHOLES] [--cutout_ratio CUTOUT_RATIO]
[--cutout_fill_value CUTOUT_FILL_VALUE]
[--multiscale_training] [--mosaic] [--random-padding]
[--no-val] [--num_samples NUM_SAMPLES]
[--num_workers NUM_WORKERS] [--batch_size BATCH_SIZE]
[--print_freq N] [--tensorboard_freq N] [--checkpoint_freq N]
[--start_epoch N] [--num_epochs N] [--lr_type LR_TYPE]
[--lr LR] [--minimum_lr MIN_LR] [--momentum M] [-wd WD]
[--optimizer_type OPTIMIZER] [--burn_in N]
[--steps [STEPS [STEPS ...]]] [--world-size N] [--rank N]
[--dist-url DIST_URL] [--dist-backend DIST_BACKEND]
[--gpu_idx GPU_IDX] [--no_cuda]
[--multiprocessing-distributed] [--evaluate]
[--resume_path PATH] [--conf-thresh CONF_THRESH]
[--nms-thresh NMS_THRESH] [--iou-thresh IOU_THRESH]
The Implementation of YOLO3D-YOLOv4 using PyTorch
optional arguments:
-h, --help show this help message and exit
--seed SEED re-produce the results with seed random
--saved_fn FN The name using for saving logs, models,...
--root-dir PATH The ROOT working directory
-a ARCH, --arch ARCH The name of the model architecture
--cfgfile PATH The path for cfgfile (only for darknet)
--pretrained_path PATH
the path of the pretrained checkpoint
--use_giou_loss If true, use GIoU loss during training. If false, use
MSE loss for training
--img_size IMG_SIZE the size of input image
--hflip_prob HFLIP_PROB
The probability of horizontal flip
--cutout_prob CUTOUT_PROB
The probability of cutout augmentation
--cutout_nholes CUTOUT_NHOLES
The number of cutout area
--cutout_ratio CUTOUT_RATIO
The max ratio of the cutout area
--cutout_fill_value CUTOUT_FILL_VALUE
The fill value in the cut out area, default 0. (black)
--multiscale_training
If true, use scaling data for training
--mosaic If true, compose training samples as mosaics
--random-padding If true, random padding if using mosaic augmentation
--no-val If true, dont evaluate the model on the val set
--num_samples NUM_SAMPLES
Take a subset of the dataset to run and debug
--num_workers NUM_WORKERS
Number of threads for loading data
--batch_size BATCH_SIZE
mini-batch size (default: 4), this is the totalbatch
size of all GPUs on the current node when usingData
Parallel or Distributed Data Parallel
--print_freq N print frequency (default: 50)
--tensorboard_freq N frequency of saving tensorboard (default: 20)
--checkpoint_freq N frequency of saving checkpoints (default: 2)
--start_epoch N the starting epoch
--num_epochs N number of total epochs to run
--lr_type LR_TYPE the type of learning rate scheduler (cosin or
multi_step)
--lr LR initial learning rate
--minimum_lr MIN_LR minimum learning rate during training
--momentum M momentum
-wd WD, --weight_decay WD
weight decay (default: 1e-6)
--optimizer_type OPTIMIZER
the type of optimizer, it can be sgd or adam
--burn_in N number of burn in step
--steps [STEPS [STEPS ...]]
number of burn in step
--world-size N number of nodes for distributed training
--rank N node rank for distributed training
--dist-url DIST_URL url used to set up distributed training
--dist-backend DIST_BACKEND
distributed backend
--gpu_idx GPU_IDX GPU index to use.
--no_cuda If true, cuda is not used.
--multiprocessing-distributed
Use multi-processing distributed training to launch N
processes per node, which has N GPUs. This is the
fastest way to use PyTorch for either single node or
multi node data parallel training
--evaluate only evaluate the model, not training
--resume_path PATH the path of the resumed checkpoint
--conf-thresh CONF_THRESH
for evaluation - the threshold for class conf
--nms-thresh NMS_THRESH
for evaluation - the threshold for nms
--iou-thresh IOU_THRESH
for evaluation - the threshold for IoU