通过3DOP项目的主页,我们可以找到通往多伦多大学的项目源代码的链接。不知是处于什么目的,该代码是以压缩包而不是github的方式给出的。
通过下载之后,我们可以看到指导说明为:
3DOP_code_cuDNNv3 and v5
由于cuDNN 3版本和cuDNN5的版本上有一定实现差异,因此该代码兼容了上述两个版本。下面仅针对cuDNN v5 来进行代码分析。
- ## 3D Object Proposals (3DOP)
This is an implementation of the algorithms described in
3D Object Proposals for Accurate Object Class Detection.
Xiaozhi Chen*, Kaustav Kunku*, Yukun Zhu, Andrew Berneshawi, Huimin Ma, Sanja Fidler and Raquel Urtasun. NIPS, 2015.
Precomputed Results
We provide following precomputed models and results on our project page: http://www.cs.toronto.edu/objprop3d/
- Train-val split of KITTI training set
- Disparity computed by SPS-stereo for KITTI training and testing sets
- Road planes for KITTI training and testing sets
- 2D/3D proposals for KITTI training set
- CNN models trained with 3DOP on KITTI training set
- 2D/3D detection results using 3DOP on KITTI validation set
Compute Proposals
Please refer to ./3DOP/demo_3dop.m
for training/testing/evaluation of the proposals.
Object Detection Networks
Detection code is under ./frcn-kitti/
This implementation is built on Fast R-CNN (https://github.com/rbgirshick/fast-rcnn).
Build Caffe
Please follow Fast R-CNN (https://github.com/rbgirshick/fast-rcnn) to compile caffe and pycaffe.
Build the Cython modules
- cd ./frcn-kitti/lib
- make
Prepare data
- KITTI images are supposed to be placed unber
./frcn-kitti/data/kitti/object/
- 3D object proposals are supposed to be placed under
./frcn-kitti/data/proposals/
- KITTI images are supposed to be placed unber
Download pre-trained ImageNet models
- cd ./frcn-kitti
- ./data/scripts/fetch_imagenet_models.sh
Compile KITTI evaluation code
- cd ./frcn-kitti/kitti/eval/cpp
- g++ evaluate_object.cpp -o evaluate_object
Training & testing
Please refer to ./frcn-kitti/demo.sh
for training/testing of the detection networks.
ImageSets
ImageSets就是将KITTI中的7517张图片,随机均匀地划分成两部分。一部分用作test,另外一部分用作validate。两部分的图片数量大致在3750张左右。
其他部分的内容将在下载完成之后进行相关的测试。