PIXOR-PL-end2end

This folder contains code to reproduce the results on end-to-end training of PIXOR model on stereo 3D object detection.

Dependency

• pytorch 1.1.0 (torchvision 0.3.0)
• torch_scatter
• configargparse
• opencv-python
• tqdm
• numpy
• scipy

Pre-train models

Download pixor model pretrained on SDN on KITTI here and pretrained depth model here.

Run PIXOR_PL_end2end finetuneing

compile the kitti offical evaluation code:

cd evaluation/kitti_eval
./compile.sh

run end2end finetuning (on 2 TITAN RTX GPUs):

CUDA_VISIBLE_DEVICES=0,1 python train_pixor_e2e.py -c configs/fusion.cfg --depth_pretrain <depth_model_pretrain_path> --pixor_pretrain <detection_model_pretrain_path>

Evaluation

CUDA_VISIBLE_DEVICES=0,1 python train_pixor_e2e.py -c configs/fusion.cfg --mode eval --eval_ckpt <full_model_checkpoint_path>