Table of Contents
The code requires Python 3, and has been tested on Python 3.5.2, but should work on newer versions of Python too.
pip install -r requirements.txt
Every setting for a training is set through a YAML configuration file. Thus, in order to train a model you will have to setup the configuration file. An example is shown:
# Training settings exps_dir: 'experiments' # Path to the root for the experiments directory (not only the one you will run) iter_log_interval: 1 # Log training iteration every N iterations iter_time_window: 100 # Moving average iterations window for the printed loss metric model_save_interval: 1 # Save model every N epochs seed: 0 # Seed for randomness backup: drive:polylanenet-experiments # The experiment directory will be automatically uploaded using rclone after the training ends. Leave empty if you do not want this. model: name: PolyRegression parameters: num_outputs: 35 # (5 lanes) * (1 conf + 2 (upper & lower) + 4 poly coeffs) pretrained: true backbone: 'efficientnet-b0' pred_category: false loss_parameters: conf_weight: 1 lower_weight: 1 upper_weight: 1 cls_weight: 0 poly_weight: 300 batch_size: 16 epochs: 2695 optimizer: name: Adam parameters: lr: 3.0e-4 lr_scheduler: name: CosineAnnealingLR parameters: T_max: 385 # Testing settings test_parameters: conf_threshold: 0.5 # Set predictions with confidence lower than this to 0 (i.e., set as invalid for the metrics) # Dataset settings datasets: train: type: PointsDataset parameters: dataset: tusimple split: train img_size: [360, 640] normalize: true aug_chance: 0.9090909090909091 # 10/11 augmentations: # ImgAug augmentations - name: Affine parameters: rotate: !!python/tuple [-10, 10] - name: HorizontalFlip parameters: p: 0.5 - name: CropToFixedSize parameters: width: 1152 height: 648 root: "datasets/tusimple" # Dataset root test: &test type: PointsDataset parameters: dataset: tusimple split: val img_size: [360, 640] root: "datasets/tusimple" normalize: true augmentations:  # val = test val: <<: *test
With the config file created, run the training script:
python train.py --exp_name tusimple --cfg config.yaml
This script's options are:
--exp_name Experiment name. --cfg Config file for the training (.yaml) --resume Resume training. If a training session was interrupted, run it again with the same arguments and this option to resume the training from the last checkpoint. --validate Wheter to validate during the training session. Was not in our experiments, which means it has not been thoroughly tested. --deterministic set cudnn.deterministic = True and cudnn.benchmark = False
After training, run the
test.py script to get the metrics:
python test.py --exp_name tusimple --cfg config.yaml --epoch 2695
This script's options are:
--exp_name Experiment name. --cfg Config file for the test (.yaml). (probably the same one used in the training) --epoch EPOCH Epoch to test the model on --batch_size Number of images per batch --view Show predictions. Will draw the predictions in an image and then show it (cv.imshow)
If you have any issues with either training or testing feel free to open an issue.
Reproducing the paper results
To reproduce the results, you can either retrain a model with the same settings (which should yield results pretty close to the reported ones) or just test the model.
If you want to retrain, you only need the appropriate YAML settings file, which you can find in the
If you just want to reproduce the exact reported metrics by testing the model, you'll have to:
- Download the experiment directory. You don't need to download all model checkpoints if you want, you'll only need the last one (
model_2695.pt, with the exception of the experiments on ELAS and LLAMAS).
- Modify all path related fields (i.e., dataset paths and
exps_dir) in the
config.yamlfile inside the experiment directory.
- Move the downloaded experiment to your
python test.py --exp_name $exp_name --cfg $exps_dir/$exp_name/config.yaml --epoch 2695
$exp_name with the name of the directory you downloaded (the name of the experiment) and
$exps_dir with the
exps_dir value you defined inside the
config.yaml file. The script will look for a directory named
$exps_dir/$exp_name/models to load the model.