update models

freddiekimN · Jun 9, 2023 · 01981c5 · 01981c5
1 parent 8fceb89
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diff --git a/README.md b/README.md
@@ -16,7 +16,7 @@ Paper url of Sparse4Dv2: https://arxiv.org/abs/2305.14018
 These experiments were conducted using 8 RTX 3090 GPUs with 24 GB memory.
 |model| backbone |pretrain| img size | Epoch | Traning | FPS | NDS | mAP |mATE| mASE | mAOE |mAVE| mAAE | ckpt | log |
 | :---: | :---: | :---: | :---: | :---: | :---:| :---:|:---:|:---: | :---: | :----: | :----: | :----: | :----: | :----: | :---: |
-|Sparse4D-T4|Res101|[FCOS3D](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/fcos3d.pth)|640x1600|24|2Day5H|2.9|0.5438|0.4409|0.6282|0.2721|0.3853|0.2922|0.1888|[ckpt](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/sparse4d_release.pth)|[log](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/sparse4d.log)|
+|Sparse4D-T4|Res101|[FCOS3D](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/fcos3d.pth)|640x1600|24|2Day5H|2.9|0.5438|0.4409|0.6282|0.2721|0.3853|0.2922|0.1888|[ckpt](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/sparse4dv1_r101_H4_release.pth)|[log](https://github.com/linxuewu/Sparse4D/releases/download/v0.0/sparse4d.log)|
 |Sparse4Dv2|Res50|[ImageNet]()|256x704| 100 |15H | 20.3 |0.5384|0.4392|0.5998|0.2694|0.4709|0.2916|0.1800|ckpt|log|
 |Sparse4Dv2|Res101|[nuImage](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages_semseg/cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim/cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim_20201009_124951-40963960.pth)|512x1408| 100 |2Day | 8.4 |0.5939|0.5051|0.5478|0.2677|0.3481|0.2386|0.1838|-|-|
 

diff --git a/projects/configs/sparse4d_r101_H1.py b/projects/configs/sparse4d_r101_H1.py
@@ -46,11 +46,15 @@
     ),
     head=dict(
         type="Sparse4DHead",
-        num_anchor=900,
-        anchor_file="nuscenes_kmeans900.npy",
-        num_decoder=num_decoder,
-        embed_dims=embed_dims,
         cls_threshold_to_reg=0.05,
+        num_decoder=num_decoder,
+        instance_bank=dict(
+            type="InstanceBank",
+            num_anchor=900,
+            embed_dims=embed_dims,
+            anchor="nuscenes_kmeans900.npy",
+            anchor_handler=dict(type="SparseBox3DKeyPointsGenerator"),
+        ),
         anchor_encoder=dict(
             type="SparseBox3DEncoder",
             embed_dims=embed_dims,
@@ -78,7 +82,7 @@
             num_groups=num_groups,
             num_levels=4,
             num_cams=6,
-            dropout=0.1,
+            proj_drop=0.1,
             kps_generator=dict(
                 type="SparseBox3DKeyPointsGenerator",
                 num_learnable_pts=6,
@@ -98,7 +102,6 @@
             embed_dims=embed_dims,
             num_cls=num_classes,
         ),
-        # pre_norm=True,
         sampler=dict(
             type="SparseBox3DTarget",
             cls_weight=2.0,

diff --git a/projects/configs/sparse4d_r101_H4.py b/projects/configs/sparse4d_r101_H4.py
@@ -7,12 +7,12 @@
 
 model = dict(
     head=dict(
-        max_queue_length=max_queue_length,
         deformable_model=dict(
             temporal_fusion_module=dict(
                 type="LinearFusionModule",
             )
         ),
+        instance_bank=dict(max_queue_length=max_queue_length),
     )
 )
 
@@ -47,4 +47,4 @@
 bicycle	0.403	0.491	0.267	0.671	0.176	0.026
 traffic_cone	0.674	0.324	0.311	nan	nan	nan
 barrier	0.597	0.400	0.286	0.139	nan	nan
-'''
+'''
diff --git a/projects/mmdet3d_plugin/models/__init__.py b/projects/mmdet3d_plugin/models/__init__.py
@@ -1,25 +1,34 @@
+from .sparse4d import Sparse4D
+from .sparse4d_head import Sparse4DHead
 from .blocks import (
+    DeformableFeatureAggregation,
     LinearFusionModule,
     DepthReweightModule,
-    SparseBox3DKeyPointsGenerator,
+    DenseDepthNet,
+    AsymmetricFFN,
+)
+from .instance_bank import InstanceBank
+from .detection3d import (
+    SparseBox3DDecoder,
+    SparseBox3DTarget,
     SparseBox3DRefinementModule,
-    DeformableFeatureAggregation,
+    SparseBox3DKeyPointsGenerator,
     SparseBox3DEncoder,
 )
-from .decoder import SparseBox3DDecoder
-from .target import SparseBox3DTarget
-from .sparse4d_head import Sparse4DHead
-from .sparse4d import Sparse4D
+
 
 __all__ = [
+    "Sparse4D",
+    "Sparse4DHead",
+    "DeformableFeatureAggregation",
     "LinearFusionModule",
     "DepthReweightModule",
-    "SparseBox3DKeyPointsGenerator",
+    "DenseDepthNet",
+    "AsymmetricFFN",
+    "InstanceBank",
+    "SparseBox3DDecoder",
+    "SparseBox3DTarget",
     "SparseBox3DRefinementModule",
-    "DeformableFeatureAggregation",
+    "SparseBox3DKeyPointsGenerator",
     "SparseBox3DEncoder",
-    "Sparse4DHead",
-    "SparseBox3DTarget",
-    "SparseBox3DDecoder",
-    "Sparse4D",
 ]