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pillarnext's Issues

ImportError("cannot import name 'iou3d_nms_cuda' from partially initialized module 'det3d.core.iou3d_nms' (most likely due to a circular import)

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

How to run PillarNext on Kitti dataset

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?

docker pull question

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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nvidia/cuda:11.6.1-devel-ubuntu20.04","RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections","","# Install basics","RUN apt update","RUN apt install -y wget git ffmpeg libsm6 libxext6 ","","ENV CONDA_DIR /opt/conda","","RUN wget --quiet https://repo.anaconda.com/archive/Anaconda3-2021.11-Linux-x86_64.sh && \\","    /bin/bash ./Anaconda3-2021.11-Linux-x86_64.sh -b -p /opt/conda && \\","    rm ./Anaconda3-2021.11-Linux-x86_64.sh ","","ENV PATH=\"/opt/conda/bin:$PATH\"","RUN pip install torch==1.13.1+cu116 torchvision==0.14.1+cu116 --extra-index-url https://download.pytorch.org/whl/cu116","RUN pip install torch-scatter -f https://data.pyg.org/whl/torch-1.13.0+cu116.html","Run pip install hydra-core numba ","Run pip install spconv-cu116","Run pip install opencv-python","Run pip install nuscenes-devkit","Run pip install protobuf==3.20.*","RUN pip install --no-cache-dir tensorflow==2.6.0","Run pip install 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at main · qcraftai/pillarnext"}
--------------------
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?

I have a few questions

On waymo val, I saw that the accuracy of pillarnet is like this. Why is yours so high?

image

yours is this
image

iou3d_nms_cuda.py is missing in this repo

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

how to get BEV evaluation results

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

The questions of flops measurement

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?

Questions about Waymo val set results

Thanks for your great work! I have one question. In your paper, the performance of PillarNeXt-B model in one frame setting on Waymo val set is: 69.8 L2 mAPH in vehicle class
image
However, in your github, this performance is 67.8 L2 mAPH, which one is the right results?

About encode the pointcloud

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?

Cannot reproduce nuScenes result

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,

how to use the code without docker?

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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