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View Code? Open in Web Editor NEWPillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Clouds (CVPR 2023)
License: Other
PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Clouds (CVPR 2023)
License: Other
Thank you for excellent work.But how to run on a single GPU?
I'm trying to understand PillarNext, but the system has a complexity I'm not accustomed to. My questions are geared towards trying to reproduce its functionality to test detection. I'd like to know how the model receives the point clouds and converts them into coordinates to be printed on an image. For example, what needs to be done to convert a point cloud from a dataset, how to feed it into the model, and how to convert it into an image with the detections.
I'd love to know if there's any prototype or intuitive example that demonstrates this conversion of the point cloud, showing how it enters the model and how it exits. Something similar to the Waymo quickstart, which you provided in your README, showing how to visualize the dataset, would be useful for understanding PillarNext.
I'd also like to apologize for my ignorance, as I'm new to this field that uses point clouds. Additionally, if you have references to repositories for studying similar architectures that aim to solve this problem, it would be very helpful for me to delve deeper into this topic. Thank you.
hi,i am really interested about the mentioned faded copy-and-paste,but i couldn‘t found out which file implements this function
Can u check ure code?
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, sir. Is there code here to calculate the number of parameters and inference speed?
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
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.
Hi,
I am working on nuscenes lidar-only dataset for object detection. Can you please address my question regarding the memory Requirement to work on nuscenes full dataset?
Right now, we have a nvidia GeForce RTX 4080 system each with 32GB RAM, 16GB dedicated GPU and 9728 CUDA cores. Can I work on Nuscenes lidar-only full dataset with this specification?
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?
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
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?
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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at main · qcraftai/pillarnext"}
--------------------
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Can anyone help to fix this?
hello @Konstantin5389 , there're some plots in output folder, could you pls expain the meaning of dist_pr_0.5/1.0./2.0/4.0? Have no idea about the abbreviation Dist. , is that distance?. Thanks.
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
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,
root@453cd795ecb9:/home/pillarnext# pip install -e .
Obtaining file:///home/pillarnext
Installing collected packages: det3d
Running setup.py develop for det3d
ERROR: Command errored out with exit status 1:
command: /opt/conda/bin/python -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'/home/pillarnext/setup.py'"'"'; file='"'"'/home/pillarnext/setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(file) if os.path.exists(file) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, file, '"'"'exec'"'"'))' develop --no-deps
cwd: /home/pillarnext/
Complete output (56 lines):
No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda'
running develop
running egg_info
writing det3d.egg-info/PKG-INFO
writing dependency_links to det3d.egg-info/dependency_links.txt
writing top-level names to det3d.egg-info/top_level.txt
reading manifest file 'det3d.egg-info/SOURCES.txt'
adding license file 'LICENSE'
writing manifest file 'det3d.egg-info/SOURCES.txt'
running build_ext
building 'det3d.core.iou3d_nms.iou3d_nms_cuda' extension
Traceback (most recent call last):
File "", line 1, in
File "/home/pillarnext/setup.py", line 18, in
setup(
File "/opt/conda/lib/python3.9/site-packages/setuptools/init.py", line 153, in setup
return distutils.core.setup(**attrs)
File "/opt/conda/lib/python3.9/distutils/core.py", line 148, in setup
dist.run_commands()
File "/opt/conda/lib/python3.9/distutils/dist.py", line 966, in run_commands
self.run_command(cmd)
File "/opt/conda/lib/python3.9/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/develop.py", line 34, in run
self.install_for_development()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/develop.py", line 114, in install_for_development
self.run_command('build_ext')
File "/opt/conda/lib/python3.9/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/opt/conda/lib/python3.9/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 79, in run
_build_ext.run(self)
File "/opt/conda/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
_build_ext.build_ext.run(self)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 340, in run
self.build_extensions()
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 843, in build_extensions
build_ext.build_extensions(self)
File "/opt/conda/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
_build_ext.build_ext.build_extensions(self)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 449, in build_extensions
self._build_extensions_serial()
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 474, in _build_extensions_serial
self.build_extension(ext)
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 202, in build_extension
_build_ext.build_extension(self, ext)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 529, in build_extension
objects = self.compiler.compile(sources,
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 649, in unix_wrap_ninja_compile
cuda_post_cflags = unix_cuda_flags(cuda_post_cflags)
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 548, in unix_cuda_flags
cflags + _get_cuda_arch_flags(cflags))
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1780, in _get_cuda_arch_flags
arch_list[-1] += '+PTX'
IndexError: list index out of range
----------------------------------------
ERROR: Command errored out with exit status 1: /opt/conda/bin/python -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'/home/pillarnext/setup.py'"'"'; file='"'"'/home/pillarnext/setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(file) if os.path.exists(file) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, file, '"'"'exec'"'"'))' develop --no-deps Check the logs for full command output.
root@453cd795ecb9:/home/pillarnext# pip install -v -e .
Using pip 21.2.4 from /opt/conda/lib/python3.9/site-packages/pip (python 3.9)
Obtaining file:///home/pillarnext
Running command python setup.py egg_info
No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda'
running egg_info
creating /tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info
writing /tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/PKG-INFO
writing dependency_links to /tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/dependency_links.txt
writing top-level names to /tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/top_level.txt
writing manifest file '/tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/SOURCES.txt'
reading manifest file '/tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/SOURCES.txt'
adding license file 'LICENSE'
writing manifest file '/tmp/pip-pip-egg-info-za95g8wj/det3d.egg-info/SOURCES.txt'
Installing collected packages: det3d
Running setup.py develop for det3d
Running command /opt/conda/bin/python -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'/home/pillarnext/setup.py'"'"'; file='"'"'/home/pillarnext/setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(file) if os.path.exists(file) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, file, '"'"'exec'"'"'))' develop --no-deps
No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda'
running develop
running egg_info
writing det3d.egg-info/PKG-INFO
writing dependency_links to det3d.egg-info/dependency_links.txt
writing top-level names to det3d.egg-info/top_level.txt
reading manifest file 'det3d.egg-info/SOURCES.txt'
adding license file 'LICENSE'
writing manifest file 'det3d.egg-info/SOURCES.txt'
running build_ext
building 'det3d.core.iou3d_nms.iou3d_nms_cuda' extension
Traceback (most recent call last):
File "", line 1, in
File "/home/pillarnext/setup.py", line 18, in
setup(
File "/opt/conda/lib/python3.9/site-packages/setuptools/init.py", line 153, in setup
return distutils.core.setup(**attrs)
File "/opt/conda/lib/python3.9/distutils/core.py", line 148, in setup
dist.run_commands()
File "/opt/conda/lib/python3.9/distutils/dist.py", line 966, in run_commands
self.run_command(cmd)
File "/opt/conda/lib/python3.9/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/develop.py", line 34, in run
self.install_for_development()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/develop.py", line 114, in install_for_development
self.run_command('build_ext')
File "/opt/conda/lib/python3.9/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/opt/conda/lib/python3.9/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 79, in run
_build_ext.run(self)
File "/opt/conda/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
_build_ext.build_ext.run(self)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 340, in run
self.build_extensions()
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 843, in build_extensions
build_ext.build_extensions(self)
File "/opt/conda/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
_build_ext.build_ext.build_extensions(self)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 449, in build_extensions
self._build_extensions_serial()
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 474, in _build_extensions_serial
self.build_extension(ext)
File "/opt/conda/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 202, in build_extension
_build_ext.build_extension(self, ext)
File "/opt/conda/lib/python3.9/distutils/command/build_ext.py", line 529, in build_extension
objects = self.compiler.compile(sources,
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 649, in unix_wrap_ninja_compile
cuda_post_cflags = unix_cuda_flags(cuda_post_cflags)
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 548, in unix_cuda_flags
cflags + _get_cuda_arch_flags(cflags))
File "/opt/conda/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1780, in _get_cuda_arch_flags
arch_list[-1] += '+PTX'
IndexError: list index out of range
ERROR: Command errored out with exit status 1: /opt/conda/bin/python -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'/home/pillarnext/setup.py'"'"'; file='"'"'/home/pillarnext/setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(file) if os.path.exists(file) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, file, '"'"'exec'"'"'))' develop --no-deps Check the logs for full command output.
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