sshaoshuai / pv-rcnn Goto Github PK

python demo.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml --ckpt pth/pv_rcnn_8369.pth --data_path ../testing/velodyne/000006.bin 。The following error occurs：
INFO Visualized sample index: 1
Traceback (most recent call last):
File "demo.py", line 103, in
main()
File "demo.py", line 91, in main
pred_dicts, _ = model.forward(data_dict)
File "/home/dfmc/OpenPCDet/pcdet/models/detectors/pv_rcnn.py", line 11, in forward
batch_dict = cur_module(batch_dict)
File "/home/dfmc/anaconda3/lib/python3.6/site-packages/torch/nn/modules/module.py", line 541, in call
result = self.forward(*input, **kwargs)
File "/home/dfmc/OpenPCDet/pcdet/models/backbones_3d/spconv_backbone.py", line 139, in forward
x = self.conv_input(input_sp_tensor)
File "/home/dfmc/anaconda3/lib/python3.6/site-packages/torch/nn/modules/module.py", line 541, in call
result = self.forward(*input, **kwargs)
File "/home/dfmc/.local/lib/python3.6/site-packages/spconv/modules.py", line 134, in forward
input = module(input)
File "/home/dfmc/anaconda3/lib/python3.6/site-packages/torch/nn/modules/module.py", line 541, in call
result = self.forward(*input, **kwargs)
File "/home/dfmc/.local/lib/python3.6/site-packages/spconv/conv.py", line 181, in forward
use_hash=self.use_hash)
File "/home/dfmc/.local/lib/python3.6/site-packages/spconv/ops.py", line 95, in get_indice_pairs
int(use_hash))
ValueError: /home/dfmc/spconv-master/src/spconv/spconv_ops.cc 87
unknown device type，What is the problem？ thank you very much!

Hi Dr. Shi@sshaoshuai, thanks your this great work！

I understand that it may still need some time before you could open source the pvrcnn code. I‘m wondering could you please tell me the voxel set abstraction parameters first, since the paper only mentioned the radius at each level, what about the nsample and mlps?

Looking forward to your reply. Thank you!

I tried with the configuration of pvrcnn, and noticed that using road plane has 4 points of improvement on the AP_r11. where can I download the road plane of kitti test data. Do you recommend a good ground estimation method.