---
license: mit
---
This repository hosts the official implementation of [MonoDGP: Monocular 3D Object Detection with Decoupled-Query and Geometry-Error Priors](https://arxiv.org/abs/2410.19590) based on the excellent work MonoDETR. In this work, we propose a novel transformer-based monocular method called MonoDGP, which adopts geometry errors to correct the projection formula. We also introduce a 2D visual decoder for query initialization and a region segmentation head for feature enhancement.

## Installation
1. Clone this project and create a conda environment:
    ```bash
    git clone https://github.com/PuFanqi23/MonoDGP.git
    cd MonoDGP

    conda create -n monodgp python=3.8
    conda activate monodgp
    ```
    
2. Install pytorch and torchvision matching your CUDA version:
    ```bash
    # For example, We adopt torch 1.9.0+cu111
    pip install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
    ```
    
3. Install requirements and compile the deformable attention:
    ```bash
    pip install -r requirements.txt

    cd lib/models/monodgp/ops/
    bash make.sh
    
    cd ../../../..
    ```
 
4. Download [KITTI](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d) datasets and prepare the directory structure as:
    ```bash
    │MonoDGP/
    ├──...
    │data/kitti/
    ├──ImageSets/
    ├──training/
    │   ├──image_2
    │   ├──label_2
    │   ├──calib
    ├──testing/
    │   ├──image_2
    │   ├──calib
    ```
    You can also change the data path at "dataset/root_dir" in `configs/monodgp.yaml`.
    
## Get Started

### Train
You can modify the settings of models and training in `configs/monodgp.yaml` and indicate the GPU in `train.sh`:
  ```bash
  bash train.sh configs/monodgp.yaml > logs/monodgp.log
  ```
### Test
The best checkpoint will be evaluated as default. You can change it at "tester/checkpoint" in `configs/monodgp.yaml`:
  ```bash
  bash test.sh configs/monodgp.yaml
  ```
You can test the inference time on your own device:
  ```bash
  python tools/test_runtime.py
  ```
## Citation

If you find our work useful in your research, please consider giving us a star and citing:

```latex
@article{pu2024monodgp,
  title={MonoDGP: Monocular 3D Object Detection with Decoupled-Query and Geometry-Error Priors},
  author={Pu, Fanqi and Wang, Yifan and Deng, Jiru and Yang, Wenming},
  journal={arXiv preprint arXiv:2410.19590},
  year={2024}
}
```

## Acknowlegment
This repo benefits from the excellent work [MonoDETR](https://github.com/ZrrSkywalker/MonoDETR).