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Get Started

Our setting

  1. Pytorch=1.8.1
  2. CUDA=11.2
  3. NVIDIA RTX A6000 48G

Prerequisite

  1. mmcv==1.4.0 (https://github.com/open-mmlab/mmcv)
  2. mmdet (https://github.com/open-mmlab/mmdetection)
  3. mmseg (https://github.com/open-mmlab/mmsegmentation)
  4. mmdet3d==1.17.1 (https://github.com/open-mmlab/mmdetection3d)
  5. Link mmdetection3d to Ego3RT/mmdetection3d.

Dataset & pretrain

  1. Following mmdet3d to process the data.
  2. Link mmdetection3d/data/ to Ego3RT/data/
  3. Following DETR3D to get FCOS pretrain weight.
  4. Your working directory should be
Ego3RT
    |- build
    |- data
        |- nuscenes
    |- mmdetection3d
    |- pretrained
        |- fcos3d.pth
    |- projects
    |- tools
    |- setup.py

Install

cd Ego3RT
python setup.py develop

Train

  1. To train our major model, please use
./tools/dist_train.sh projects/configs/ego3rt/ego3rt_polar80x256_cart160x160.py 8