Expected behavior when there are no objects in ground truth about openpcdet HOT 7 CLOSED

in dataset.py, when preparing data, the ground truth boxes are filtered with point cloud range. You may comment this.
Or do a clean-up with boxes outside the pointcloud range when create a pickle train file.

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Hi, @vatsal-shah, I met the same error as yours. I also Nuscenes to the KITTI format using their script.
But I found that there are some label file is empty in train set and val set, just del the empty label file name from the ImageSet/train.txt or val.txt.
It works!

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We will re-sample a scene if we find there doesn't exist any objects in current scene. See #340.

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Hi, @vatsal-shah, I met the same error as yours. I also Nuscenes to the KITTI format using their script.
But I found that there are some label file is empty in train set and val set, just del the empty label file name from the ImageSet/train.txt or val.txt.
It works!

Hi @PengfeiMa ,I met the same error as yours, how to check if the label file is empty or not ?

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@GYE19970220 Open the label file, if there is nothing, then delete the file name from the ImageSet/train.txt or val.txt.

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@PengfeiMa Thanks, bro. I have found the empty label. Del them and train other problem occurs,I will keep on going.Can you leave a mailbox to facilitate communication？Mine [email protected]

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As nonsense as it is, I didn't find any other way than really remove it from the train.txt file. Additionally it is not super easy to identify which label is wrong since it does not crash right away. My brute force fix is adding to get_infos loop this

 try:
    annotations['bbox'] = np.concatenate([obj.box2d.reshape(1, 4) for obj in obj_list], axis=0)
except:
    print(sample_idx)
    
    file = open("/home/raghav/code/UDA/DA-IA-SSD/data/kitti/ImageSets/val.txt", "r")
    lines = file.readlines()
    new_lines = []
    for line in lines:
        if sample_idx not in line.strip():
            new_lines.append(line)
    file.close()
    file = open("/home/raghav/code/UDA/DA-IA-SSD/data/kitti/ImageSets/val.txt", "w")
    file.writelines(new_lines)
    file.close()

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