update code for different sensor_config

configs/config_rodnet_cdc_win16_mini.py

+dataset_cfg = dict(
+    dataset_name='CRUW',
+    base_root="/mnt/disk2/CRUW/CRUW_MINI_AU21",
+    data_root="/mnt/disk2/CRUW/CRUW_MINI_AU21/sequences",
+    anno_root="/mnt/disk2/CRUW/CRUW_MINI_AU21/annotations",
+    anno_ext='.json',
+    train=dict(
+        subdir='train',
+        # seqs=[],  # can choose from the subdir folder
+    ),
+    valid=dict(
+        subdir='valid',
+        seqs=[],
+    ),
+    test=dict(
+        subdir='test',
+        # seqs=[],  # can choose from the subdir folder
+    ),
+    demo=dict(
+        subdir='demo',
+        seqs=[],
+    ),
+)
+
+model_cfg = dict(
+    type='CDC',
+    name='rodnet-cdc-win16-wobg',
+    max_dets=20,
+    peak_thres=0.3,
+    ols_thres=0.3,
+)
+
+confmap_cfg = dict(
+    confmap_sigmas={
+        'pedestrian': 15,
+        'cyclist': 20,
+        'car': 30,
+        # 'van': 40,
+        # 'truck': 50,
+    },
+    confmap_sigmas_interval={
+        'pedestrian': [5, 15],
+        'cyclist': [8, 20],
+        'car': [10, 30],
+        # 'van': [15, 40],
+        # 'truck': [20, 50],
+    },
+    confmap_length={
+        'pedestrian': 1,
+        'cyclist': 2,
+        'car': 3,
+        # 'van': 4,
+        # 'truck': 5,
+    }
+)
+
+train_cfg = dict(
+    n_epoch=100,
+    batch_size=4,
+    lr=0.00001,
+    lr_step=5,  # lr will decrease 10 times after lr_step epoches
+    win_size=16,
+    train_step=1,
+    train_stride=4,
+    log_step=100,
+    save_step=10000,
+)
+test_cfg = dict(
+    test_step=1,
+    test_stride=8,
+    rr_min=1.0,  # min radar range
+    rr_max=20.0,  # max radar range
+    ra_min=-60.0,  # min radar angle
+    ra_max=60.0,  # max radar angle
+)

tools/prepare_dataset/prepare_data.py

@@ -21,7 +21,7 @@ def parse_args():
     parser = argparse.ArgumentParser(description='Prepare RODNet data.')
     parser.add_argument('--config', type=str, dest='config', help='configuration file path')
     parser.add_argument('--data_root', type=str, help='directory to the prepared data')
-    parser.add_argument('--sensor_config', type=str, default='sensor_config')
+    parser.add_argument('--sensor_config', type=str, default='sensor_config_rod2021')
     parser.add_argument('--split', type=str, dest='split', default='',
                         help='choose from train, valid, test, supertest')
     parser.add_argument('--out_data_dir', type=str, default='./data',
@@ -96,7 +96,7 @@ def prepare_data(dataset, config_dict, data_dir, split, save_dir, viz=False, ove
 
     data_root = config_dict['dataset_cfg']['data_root']
     anno_root = config_dict['dataset_cfg']['anno_root']
-    if split == None:
+    if split is None:
         set_cfg = {
             'subdir': '',
             'seqs': sorted(os.listdir(data_root))

tools/test.py

@@ -28,6 +28,7 @@ Example:
 def parse_args():
     parser = argparse.ArgumentParser(description='Test RODNet.')
     parser.add_argument('--config', type=str, help='choose rodnet model configurations')
+    parser.add_argument('--sensor_config', type=str, default='sensor_config_rod2021')
     parser.add_argument('--data_dir', type=str, default='./data/', help='directory to the prepared data')
     parser.add_argument('--checkpoint', type=str, help='path to the saved trained model')
     parser.add_argument('--res_dir', type=str, default='./results/', help='directory to save testing results')
@@ -43,7 +44,7 @@ if __name__ == "__main__":
     sybl = args.symbol
 
     config_dict = load_configs_from_file(args.config)
-    dataset = CRUW(data_root=config_dict['dataset_cfg']['base_root'], sensor_config_name='sensor_config_rod2021')
+    dataset = CRUW(data_root=config_dict['dataset_cfg']['base_root'], sensor_config_name=args.sensor_config)
     radar_configs = dataset.sensor_cfg.radar_cfg
     range_grid = dataset.range_grid
     angle_grid = dataset.angle_grid

tools/train.py

@@ -25,6 +25,7 @@ from rodnet.utils.visualization import visualize_train_img
 def parse_args():
     parser = argparse.ArgumentParser(description='Train RODNet.')
     parser.add_argument('--config', type=str, help='configuration file path')
+    parser.add_argument('--sensor_config', type=str, default='sensor_config_rod2021')
     parser.add_argument('--data_dir', type=str, default='./data/', help='directory to the prepared data')
     parser.add_argument('--log_dir', type=str, default='./checkpoints/', help='directory to save trained model')
     parser.add_argument('--resume_from', type=str, default=None, help='path to the trained model')
@@ -38,7 +39,7 @@ if __name__ == "__main__":
     args = parse_args()
     config_dict = load_configs_from_file(args.config)
     # dataset = CRUW(data_root=config_dict['dataset_cfg']['base_root'])
-    dataset = CRUW(data_root=config_dict['dataset_cfg']['base_root'], sensor_config_name='sensor_config_rod2021')
+    dataset = CRUW(data_root=config_dict['dataset_cfg']['base_root'], sensor_config_name=args.sensor_config)
     radar_configs = dataset.sensor_cfg.radar_cfg
     range_grid = dataset.range_grid
     angle_grid = dataset.angle_grid