Introduction

In this repository, the project folder is PETR, the other files are implementation of PETR for Kitti Dataset, which lead to bad result. The update for double camera case will be done in the future I hope.

Before running the project, remember to download NuScenes Dataset following the official git repository of PETR first. The report of this project is at DN_PETR.pdf

Author

Tung Yen Chiang

Tung Hsiao

PETR package and install

To run the project, cd into PETR folder first

cd PETR

install basic package

pip install ninja wheel lyft_dataset_sdk networkx==2.2 numba==0.48.0 nuscenes-devkit plyfile scikit-image tensorboard trimesh==2.35.39 numpy==1.19.5 open3d einops yapf==0.40.0

install mmcv, mmdet, mmseg

pip install --upgrade pip

pip install -U openmim
mim install mmcv-full==1.4.0
pip install mmdet==2.24.1
pip install mmsegmentation==0.20.2

If encountering public key problem when installing git

apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub

When encountering installing package with timezone

ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime
DEBIAN_FRONTEND=noninteractive apt-get install gconf-service libasound2 libatk1.0-0 libc6 libcairo2 libcups2 libdbus-1-3 libexpat1 libfontconfig1 libgcc1 libgconf-2-4 libgdk-pixbuf2.0-0 libglib2.0-0 libgtk-3-0 libnspr4 libpango-1.0-0 libpangocairo-1.0-0 libstdc++6 libx11-6 libx11-xcb1 libxcb1 libxcomposite1 libxcursor1 libxdamage1 libxext6 libxfixes3 libxi6 libxrandr2 libxrender1 libxss1 libxtst6 ca-certificates fonts-liberation libappindicator1 libnss3 lsb-release xdg-utils wget -y

Install github

apt-get update && apt-get install -y git

install mmdet3d

cd mmdetection3d
git checkout v0.17.1 
pip install -r requirements/build.txt
python3 setup.py develop

For uncompressing .tgz file

tar -xvzf /path/to/yourfile.tgz

Downgrade the setpool before running any code

pip install setuptools==59.5.0

If encountering some module import error when running python code for preparing data

PYTHONPATH=${PWD}:$PYTHONPATH python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes

Running the trainning code

VovNet 800*320 for PETR

tools/dist_train.sh projects/configs/petr/petr_vovnet_gridmask_p4_800x320.py 1 --work-dir output/epoch24/petr_vovnet_gridmask_p4_800x320/

VovNet 800*320 for DN-PETR

tools/dist_train.sh projects/configs/denoise/petr_vovnet_gridmask_p4_800x320_dn.py 1 --work-dir output/epoch24/petr_vovnet_gridmask_p4_800x320_dn/