itsMorteza / yolov7-sensor-fusion

yolov7 sensor fusion support

yolov7 sensor fusion detection

Installment

Follow YoloV7,

conda create -n YOLOENV python=3.9 -y
conda activate YOLOENV
conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch
pip intsall -r requirement.txt

Data Preparation

• For KITTI dataset:

  Please make sure the folder organized like follows before run Preprocess_lidar_map.py:

  ├── cfg
  ├── datasets
  │   ├── kitti
  │   │   ├── training
  │   │   ├── testing
  │   │   ├── ImageSets
  

  Then run the generation script

  python Preprocess_lidar_map.py
  

Training

change the path inside the cfg/dataset/Kitti.yaml. Download yolov7 from the https://github.com/WongKinYiu/yolov7/releases/download/v0.1/yolov7.pt

python train.py --cfg cfg/training/yolov7-BGF.yaml --data data/Kitti.yaml --weights 'yolov7.pt' --hyp cfg/dataset/hyp.scratch.p5-kitti.yaml --epochs 100 --img 640 640 --batch-size 8 --freeze 50

Testing

python test.py --cfg cfg/models/yolov7-BGF.yaml --data data/Kitti.yaml --weights {path_to_weights} --hyp cfg/datasets/hyp.scratch.p5-kitti.yaml --no-trace --batch-size 1