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PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Clouds (CVPR 2023)
License: Other
您好,我在运行train.py时遇到了如下的报错:
File "D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\iou3d_nms\iou3d_nms_utils.py", line 8, in <module>
from . import iou3d_nms_cuda
ImportError: cannot import name 'iou3d_nms_cuda' from partially initialized module 'det3d.core.iou3d_nms' (most likely due to a circular import) (D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\iou3d_nms\__init__.py)
我注意到在iou3d_nms_utils.py中有from . import iou3d_nms_cuda,但是在文件目录中没有找到这个包,请问我该怎么解决呢。谢谢!
完整的报错如下:
Error executing job with overrides: []
Traceback (most recent call last):
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 644, in _locate
obj = getattr(obj, part)
AttributeError: module 'det3d.models.heads' has no attribute 'centerhead'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 650, in _locate
obj = import_module(mod)
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\importlib\__init__.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 783, in exec_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
File "D:\Craft\EXPERIMENTS\pillarnext-main\det3d\models\heads\centerhead.py", line 4, in <module>
from det3d.core.bbox import box_torch_ops
File "D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\bbox\box_torch_ops.py", line 2, in <module>
from det3d.core.iou3d_nms import iou3d_nms_cuda
File "D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\iou3d_nms\__init__.py", line 1, in <module>
from det3d.core.iou3d_nms import iou3d_nms_cuda, iou3d_nms_utils # noqa F401
File "D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\iou3d_nms\iou3d_nms_utils.py", line 8, in <module>
from . import iou3d_nms_cuda
ImportError: cannot import name 'iou3d_nms_cuda' from partially initialized module 'det3d.core.iou3d_nms' (most likely due to a circular import) (D:\Craft\EXPERIMENTS\pillarnext-main\det3d\core\iou3d_nms\__init__.py)
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\instantiate\_instantiate2.py", line 134, in _resolve_target
target = _locate(target)
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 658, in _locate
raise ImportError(
ImportError: Error loading 'det3d.models.heads.centerhead.CenterHead':
ImportError("cannot import name 'iou3d_nms_cuda' from partially initialized module 'det3d.core.iou3d_nms' (most likely due to a circular import) (D:\\Craft\\EXPERIMENTS\\pillarnext-main\\det3d\\core\\iou3d_nms\\__init__.py)")
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "D:\Craft\EXPERIMENTS\pillarnext-main\playground.py", line 31, in <module>
main()
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\main.py", line 94, in decorated_main
_run_hydra(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 394, in _run_hydra
_run_app(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 457, in _run_app
run_and_report(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 223, in run_and_report
raise ex
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 220, in run_and_report
return func()
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\utils.py", line 458, in <lambda>
lambda: hydra.run(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\hydra.py", line 132, in run
_ = ret.return_value
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\core\utils.py", line 260, in return_value
raise self._return_value
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\core\utils.py", line 186, in run_job
ret.return_value = task_function(task_cfg)
File "D:\Craft\EXPERIMENTS\pillarnext-main\playground.py", line 26, in main
model = instantiate(cfg.model)
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\instantiate\_instantiate2.py", line 226, in instantiate
return instantiate_node(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\instantiate\_instantiate2.py", line 342, in instantiate_node
value = instantiate_node(
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\instantiate\_instantiate2.py", line 333, in instantiate_node
_target_ = _resolve_target(node.get(_Keys.TARGET), full_key)
File "C:\Users\Master Lee\.conda\envs\pillarnext\lib\site-packages\hydra\_internal\instantiate\_instantiate2.py", line 139, in _resolve_target
raise InstantiationException(msg) from e
hydra.errors.InstantiationException: Error locating target 'det3d.models.heads.centerhead.CenterHead', set env var HYDRA_FULL_ERROR=1 to see chained exception.
full_key: model.head
Process finished with exit code 1
Hi, I want to try running PillarNext on Kitti point cloud data with tracklet labels (stored in xml files). Can you suggest me how to convert Kitti data into a format like Nuscenes or Waymo open dataset which can be run on the PillarNext model?
hi,i am really interested about the mentioned faded copy-and-paste,but i couldn‘t found out which file implements this function
I enter the docker install cmd as below,it occurs error:
thiesy@ubuntu-MS-7C75:~/docker/pillarnext$ docker build - < Dockerfile -t pillarnext
[+] Building 0.0s (2/2) FINISHED docker:default
=> [internal] load build definition from Dockerfile 0.0s
=> => transferring dockerfile: 6.26kB 0.0s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
Dockerfile:1
--------------------
1 | >>> 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--------------------
ERROR: failed to solve: dockerfile parse error on line 1: unknown instruction: {"payload":{"allShortcutsEnabled":false,"fileTree":{"docker":{"items":[{"name":"Dockerfile","path":"docker/Dockerfile","contentType":"file"}],"totalCount":1},"":{"items":[{"name":"configs","path":"configs","contentType":"directory"},{"name":"det3d","path":"det3d","contentType":"directory"},{"name":"docker","path":"docker","contentType":"directory"},{"name":"docs","path":"docs","contentType":"directory"},{"name":"tools","path":"tools","contentType":"directory"},{"name":"trainer","path":"trainer","contentType":"directory"},{"name":".gitignore","path":".gitignore","contentType":"file"},{"name":"LICENSE","path":"LICENSE","contentType":"file"},{"name":"README.md","path":"README.md","contentType":"file"},{"name":"setup.py","path":"setup.py","contentType":"file"}],"totalCount":10}},"fileTreeProcessingTime":4.868006,"foldersToFetch":[],"reducedMotionEnabled":null,"repo":{"id":636879680,"defaultBranch":"main","name":"pillarnext","ownerLogin":"qcraftai","currentUserCanPush":false,"isFork":false,"isEmpty":false,"createdAt":"2023-05-05T21:45:53.000Z","ownerAvatar":"https://avatars.githubusercontent.com/u/47136815?v=4","public":true,"private":false,"isOrgOwned":false},"symbolsExpanded":false,"treeExpanded":true,"refInfo":{"name":"main","listCacheKey":"v0:1686703992.2967439","canEdit":false,"refType":"branch","currentOid":"a9a2864089092a5f9f8ded7c3a95bafa4edbf325"},"path":"docker/Dockerfile","currentUser":null,"blob":{"rawLines":["FROM
Can anyone help to fix this?
Hello qcraftai,
Appriciated you for making this code public! I'm trying to training this pillarnext following RUN.md, but found that maybe det3d/core/iou3d_nms/iou3d_nms_cuda.py is missing in this repo or it's located in somewhere else. Because some .py files import iou3d_nms_cuda but there is no iou3d_nms_cuda.py, such as: in det3d/core/iou3d_nms/init.py, it"from det3d.core.iou3d_nms import iou3d_nms_cuda, iou3d_nms_utils ", there is iou3d_nms_utils.py indet3d.core.iou3d_nms, but no iou3d_nms_cuda.
if you can see this message would you mind help? Thanks
Thank you for excellent work.But how to run on a single GPU?
Hello, thank you very much for your excellent work. I would like to ask you how you obtained the evaluation results under BEV on the waymo validation set on the Waymo data set. I checked some information, but did not find a clear method to explain how Obtain BEV mAP and BEV mAPH in Waymo Val. Thank you so much
Can u check ure code?
Hi, I am confusing about how to measure network flops because the flops of the spconv backbone is input-independent. How did you measure it?
Hi, sir. The point cloud encoding into pillars seems to not use any sampling strategies such as random sampling to limit the number of points in each pillar and the number of pillars. Is it because not using sampling strategies makes the model perform better?
Hi, sir. Is there code here to calculate the number of parameters and inference speed?
hi,
I used your config(nusc_det_pp18_aspp_iou_sp.yaml)to train in nuScenes,but the mAP is just 0.588 and NDS is just 0.6625。Do you know why?
Best,
I want to install the environment and train test your model, but not through docker, can you provide the other install method to use? We want to run this in Linux system centos7.
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