那么在这一层的build_from_cfg函数中,obj_cls指的是<class 'mmdet3d.datasets.nuscenes_dataset.NuScenesDataset'>,也就是要构建这个类,然后返回去。 再往里走看这个NuScenesDataset类的构造函数,它的基类是Custom3DDataset 而且这里面就有pipeline参数了,如果在图中它执行父类构造函数的时候停下来来看这个pipeline,可...
@DATASETS.register_module() class KittiDataset(Custom3DDataset): 报错如下: Traceback (most recent call last): File "tools/train.py", line 262, in <module> main() File "tools/train.py", line 225, in main datasets = [build_dataset(cfg.data.train)] File "/home/wangzheyuan/miniconda3/...
build 模型,build 数据集 (有多少个 workflow 就 build 多少个数据集,比如如果 train 的过程中还进行 val 则表示有 2 个 workflow) ; 最后调用 mmdet.apis.train_detector ,传入刚才 build 好的 model,datasets,配置参数等。进入mmdet.apis.train_detector: 为每一个 workflow 对应的 dataset , build data_loa...
在config/_base_文件夹下有4 个基本组件类型,分别是:数据集 (dataset),模型 (model),训练策略 (schedule) 和运行时的默认设置 (default runtime)。 已经训练过的网络 pth: checkpoints/votenet_16x8_sunrgbd-3d-10class_20200620_230238-4483c0c0.pth 结果: (votenet_ws) ubuntu@ubuntu-ifl:~/mmdetection3d/...
Results on TUM RGB-D dataset Results on stereo KITTI Visual Odometry dataset ![在这里插入图片描述]( 结论: 本文在ORB-SLAM2的基础上提出了一个可移动对象感知的vSLAM系统。我们采用了一种新的弱监督语义切分系统[24]来利用CNN的深度语义切分的能力,同时避免了训练时需要昂贵的标注。因此,与其他基于深度学习...
In version 1.4, MMDetecion3D refactors the Waymo dataset and accelerates the preprocessing, training/testing setup, and evaluation of Waymo dataset. We also extends the support for camera-based, such as Monocular and BEV, 3D object detection models on Waymo. A detailed description of the Waymo ...
from mmdet3d.datasets import build_dataset File "/root/autodl-tmp/project/MSMDFusion/mmdet3d/datasets/init.py", line 1, in from mmdet.datasets.builder import build_dataloader File "/root/autodl-tmp/project/mmdetection/mmdet/datasets/init.py", line 2, in ...
( type=dataset_type, ann_file=f'{data_root}annotations/instances_val2017.json', # 通常使用验证集进行测试 img_prefix=f'{data_root}val2017/', pipeline=test_pipeline)) # 类别数设置(包括背景类,通常设置为类别数+1) num_classes = 91 # 修改为你的类别数+1(例如,如果你有8个类别,则设置为9)...
This page provides specific tutorials about the usage of MMDetection3D for Waymo dataset. Prepare dataset Before preparing Waymo dataset, if you only installed requirements in requirements/build.txt and requirements/runtime.txt before, please install the official package for this dataset at first by ...
Dataset Preperation Prepare dataset as per original mmdetection3d documentation dataset preperation. Note: Currently only KITTI dataset with pointPillars network is supported. For KITTI dataset optional ground plane data can be downloaded from KITTI Plane data. For preparing the KITTI data with ground pla...