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index 3 is out of bounds for axis 0 with size 3

See original GitHub issue

Hello, I am getting the above error. I run the following command:

--cfg_file /home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/cfgs/kitti_models/pv_rcnn.yaml --ckpt /home/sarim/PycharmProjects/obj3d/OpenPCDet/pv_rcnn_8369.pth

Full error log:

2020-07-29 23:29:10,241   INFO  **********************Start logging**********************
2020-07-29 23:29:10,241   INFO  CUDA_VISIBLE_DEVICES=ALL
2020-07-29 23:29:10,241   INFO  cfg_file         /home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/cfgs/kitti_models/pv_rcnn.yaml
2020-07-29 23:29:10,241   INFO  batch_size       16
2020-07-29 23:29:10,241   INFO  epochs           80
2020-07-29 23:29:10,242   INFO  workers          4
2020-07-29 23:29:10,242   INFO  extra_tag        default
2020-07-29 23:29:10,242   INFO  ckpt             /home/sarim/PycharmProjects/obj3d/OpenPCDet/pv_rcnn_8369.pth
2020-07-29 23:29:10,242   INFO  mgpus            False
2020-07-29 23:29:10,242   INFO  launcher         none
2020-07-29 23:29:10,242   INFO  tcp_port         18888
2020-07-29 23:29:10,242   INFO  local_rank       0
2020-07-29 23:29:10,242   INFO  set_cfgs         None
2020-07-29 23:29:10,242   INFO  max_waiting_mins 30
2020-07-29 23:29:10,242   INFO  start_epoch      0
2020-07-29 23:29:10,242   INFO  eval_tag         default
2020-07-29 23:29:10,242   INFO  eval_all         False
2020-07-29 23:29:10,242   INFO  ckpt_dir         None
2020-07-29 23:29:10,242   INFO  save_to_file     False
2020-07-29 23:29:10,242   INFO  cfg.ROOT_DIR: /home/sarim/PycharmProjects/obj3d/OpenPCDet
2020-07-29 23:29:10,242   INFO  cfg.LOCAL_RANK: 0
2020-07-29 23:29:10,242   INFO  cfg.CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
2020-07-29 23:29:10,242   INFO  
cfg.DATA_CONFIG = edict()
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.DATASET: KittiDataset
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.DATA_PATH: ../data/kitti
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
2020-07-29 23:29:10,242   INFO  
cfg.DATA_CONFIG.DATA_SPLIT = edict()
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.DATA_SPLIT.train: train
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.DATA_SPLIT.test: val
2020-07-29 23:29:10,242   INFO  
cfg.DATA_CONFIG.INFO_PATH = edict()
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.INFO_PATH.train: ['kitti_infos_train.pkl']
2020-07-29 23:29:10,242   INFO  cfg.DATA_CONFIG.INFO_PATH.test: ['kitti_infos_val.pkl']
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.FOV_POINTS_ONLY: True
2020-07-29 23:29:10,243   INFO  
cfg.DATA_CONFIG.DATA_AUGMENTOR = edict()
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder']
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR.AUG_CONFIG_LIST: [{'NAME': 'gt_sampling', 'USE_ROAD_PLANE': True, 'DB_INFO_PATH': ['kitti_dbinfos_train.pkl'], 'PREPARE': {'filter_by_min_points': ['Car:5', 'Pedestrian:5', 'Cyclist:5'], 'filter_by_difficulty': [-1]}, 'SAMPLE_GROUPS': ['Car:15', 'Pedestrian:10', 'Cyclist:10'], 'NUM_POINT_FEATURES': 4, 'DATABASE_WITH_FAKELIDAR': False, 'REMOVE_EXTRA_WIDTH': [0.0, 0.0, 0.0], 'LIMIT_WHOLE_SCENE': False}, {'NAME': 'random_world_flip', 'ALONG_AXIS_LIST': ['x']}, {'NAME': 'random_world_rotation', 'WORLD_ROT_ANGLE': [-0.78539816, 0.78539816]}, {'NAME': 'random_world_scaling', 'WORLD_SCALE_RANGE': [0.95, 1.05]}]
2020-07-29 23:29:10,243   INFO  
cfg.DATA_CONFIG.POINT_FEATURE_ENCODING = edict()
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'intensity']
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'intensity']
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': True}, {'NAME': 'shuffle_points', 'SHUFFLE_ENABLED': {'train': True, 'test': False}}, {'NAME': 'transform_points_to_voxels', 'VOXEL_SIZE': [0.05, 0.05, 0.1], 'MAX_POINTS_PER_VOXEL': 5, 'MAX_NUMBER_OF_VOXELS': {'train': 16000, 'test': 40000}}]
2020-07-29 23:29:10,243   INFO  cfg.DATA_CONFIG._BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
2020-07-29 23:29:10,243   INFO  
cfg.MODEL = edict()
2020-07-29 23:29:10,243   INFO  cfg.MODEL.NAME: PVRCNN
2020-07-29 23:29:10,243   INFO  
cfg.MODEL.VFE = edict()
2020-07-29 23:29:10,243   INFO  cfg.MODEL.VFE.NAME: MeanVFE
2020-07-29 23:29:10,243   INFO  
cfg.MODEL.BACKBONE_3D = edict()
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_3D.NAME: VoxelBackBone8x
2020-07-29 23:29:10,243   INFO  
cfg.MODEL.MAP_TO_BEV = edict()
2020-07-29 23:29:10,243   INFO  cfg.MODEL.MAP_TO_BEV.NAME: HeightCompression
2020-07-29 23:29:10,243   INFO  cfg.MODEL.MAP_TO_BEV.NUM_BEV_FEATURES: 256
2020-07-29 23:29:10,243   INFO  
cfg.MODEL.BACKBONE_2D = edict()
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_2D.NAME: BaseBEVBackbone
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_2D.LAYER_NUMS: [5, 5]
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_2D.LAYER_STRIDES: [1, 2]
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_2D.NUM_FILTERS: [128, 256]
2020-07-29 23:29:10,243   INFO  cfg.MODEL.BACKBONE_2D.UPSAMPLE_STRIDES: [1, 2]
2020-07-29 23:29:10,244   INFO  cfg.MODEL.BACKBONE_2D.NUM_UPSAMPLE_FILTERS: [256, 256]
2020-07-29 23:29:10,244   INFO  
cfg.MODEL.DENSE_HEAD = edict()
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.NAME: AnchorHeadSingle
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.CLASS_AGNOSTIC: False
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.USE_DIRECTION_CLASSIFIER: True
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.DIR_OFFSET: 0.78539
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.DIR_LIMIT_OFFSET: 0.0
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.NUM_DIR_BINS: 2
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.ANCHOR_GENERATOR_CONFIG: [{'class_name': 'Car', 'anchor_sizes': [[3.9, 1.6, 1.56]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-1.78], 'align_center': False, 'feature_map_stride': 8, 'matched_threshold': 0.6, 'unmatched_threshold': 0.45}, {'class_name': 'Pedestrian', 'anchor_sizes': [[0.8, 0.6, 1.73]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-0.6], 'align_center': False, 'feature_map_stride': 8, 'matched_threshold': 0.5, 'unmatched_threshold': 0.35}, {'class_name': 'Cyclist', 'anchor_sizes': [[1.76, 0.6, 1.73]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-0.6], 'align_center': False, 'feature_map_stride': 8, 'matched_threshold': 0.5, 'unmatched_threshold': 0.35}]
2020-07-29 23:29:10,244   INFO  
cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG = edict()
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.NAME: AxisAlignedTargetAssigner
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.POS_FRACTION: -1.0
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.SAMPLE_SIZE: 512
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.NORM_BY_NUM_EXAMPLES: False
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.MATCH_HEIGHT: False
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.BOX_CODER: ResidualCoder
2020-07-29 23:29:10,244   INFO  
cfg.MODEL.DENSE_HEAD.LOSS_CONFIG = edict()
2020-07-29 23:29:10,244   INFO  
cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS = edict()
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.cls_weight: 1.0
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.loc_weight: 2.0
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.dir_weight: 0.2
2020-07-29 23:29:10,244   INFO  cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
2020-07-29 23:29:10,244   INFO  
cfg.MODEL.PFE = edict()
2020-07-29 23:29:10,244   INFO  cfg.MODEL.PFE.NAME: VoxelSetAbstraction
2020-07-29 23:29:10,244   INFO  cfg.MODEL.PFE.POINT_SOURCE: raw_points
2020-07-29 23:29:10,244   INFO  cfg.MODEL.PFE.NUM_KEYPOINTS: 2048
2020-07-29 23:29:10,244   INFO  cfg.MODEL.PFE.NUM_OUTPUT_FEATURES: 128
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SAMPLE_METHOD: FPS
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.FEATURES_SOURCE: ['bev', 'x_conv1', 'x_conv2', 'x_conv3', 'x_conv4', 'raw_points']
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER = edict()
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER.raw_points = edict()
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.raw_points.MLPS: [[16, 16], [16, 16]]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.raw_points.POOL_RADIUS: [0.4, 0.8]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.raw_points.NSAMPLE: [16, 16]
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER.x_conv1 = edict()
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv1.DOWNSAMPLE_FACTOR: 1
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv1.MLPS: [[16, 16], [16, 16]]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv1.POOL_RADIUS: [0.4, 0.8]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv1.NSAMPLE: [16, 16]
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER.x_conv2 = edict()
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv2.DOWNSAMPLE_FACTOR: 2
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv2.MLPS: [[32, 32], [32, 32]]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv2.POOL_RADIUS: [0.8, 1.2]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv2.NSAMPLE: [16, 32]
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER.x_conv3 = edict()
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv3.DOWNSAMPLE_FACTOR: 4
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv3.MLPS: [[64, 64], [64, 64]]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv3.POOL_RADIUS: [1.2, 2.4]
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv3.NSAMPLE: [16, 32]
2020-07-29 23:29:10,245   INFO  
cfg.MODEL.PFE.SA_LAYER.x_conv4 = edict()
2020-07-29 23:29:10,245   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv4.DOWNSAMPLE_FACTOR: 8
2020-07-29 23:29:10,246   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv4.MLPS: [[64, 64], [64, 64]]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv4.POOL_RADIUS: [2.4, 4.8]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.PFE.SA_LAYER.x_conv4.NSAMPLE: [16, 32]
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.POINT_HEAD = edict()
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.NAME: PointHeadSimple
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.CLS_FC: [256, 256]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.CLASS_AGNOSTIC: True
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.USE_POINT_FEATURES_BEFORE_FUSION: True
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.POINT_HEAD.TARGET_CONFIG = edict()
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.TARGET_CONFIG.GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.POINT_HEAD.LOSS_CONFIG = edict()
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_REG: smooth-l1
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS = edict()
2020-07-29 23:29:10,246   INFO  cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.point_cls_weight: 1.0
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.ROI_HEAD = edict()
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.NAME: PVRCNNHead
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.CLASS_AGNOSTIC: True
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.SHARED_FC: [256, 256]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.CLS_FC: [256, 256]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.REG_FC: [256, 256]
2020-07-29 23:29:10,246   INFO  cfg.MODEL.ROI_HEAD.DP_RATIO: 0.3
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.ROI_HEAD.NMS_CONFIG = edict()
2020-07-29 23:29:10,246   INFO  
cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN = edict()
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN.NMS_TYPE: nms_gpu
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN.MULTI_CLASSES_NMS: False
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN.NMS_PRE_MAXSIZE: 9000
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN.NMS_POST_MAXSIZE: 512
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TRAIN.NMS_THRESH: 0.8
2020-07-29 23:29:10,247   INFO  
cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST = edict()
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST.NMS_TYPE: nms_gpu
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST.MULTI_CLASSES_NMS: False
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST.NMS_PRE_MAXSIZE: 1024
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST.NMS_POST_MAXSIZE: 100
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.NMS_CONFIG.TEST.NMS_THRESH: 0.7
2020-07-29 23:29:10,247   INFO  
cfg.MODEL.ROI_HEAD.ROI_GRID_POOL = edict()
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.ROI_GRID_POOL.GRID_SIZE: 6
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.ROI_GRID_POOL.MLPS: [[64, 64], [64, 64]]
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.ROI_GRID_POOL.POOL_RADIUS: [0.8, 1.6]
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.ROI_GRID_POOL.NSAMPLE: [16, 16]
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.ROI_GRID_POOL.POOL_METHOD: max_pool
2020-07-29 23:29:10,247   INFO  
cfg.MODEL.ROI_HEAD.TARGET_CONFIG = edict()
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.BOX_CODER: ResidualCoder
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.ROI_PER_IMAGE: 128
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.FG_RATIO: 0.5
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.SAMPLE_ROI_BY_EACH_CLASS: True
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.CLS_SCORE_TYPE: roi_iou
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.CLS_FG_THRESH: 0.75
2020-07-29 23:29:10,247   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.CLS_BG_THRESH: 0.25
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.CLS_BG_THRESH_LO: 0.1
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.HARD_BG_RATIO: 0.8
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.TARGET_CONFIG.REG_FG_THRESH: 0.55
2020-07-29 23:29:10,248   INFO  
cfg.MODEL.ROI_HEAD.LOSS_CONFIG = edict()
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.CLS_LOSS: BinaryCrossEntropy
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.REG_LOSS: smooth-l1
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.CORNER_LOSS_REGULARIZATION: True
2020-07-29 23:29:10,248   INFO  
cfg.MODEL.ROI_HEAD.LOSS_CONFIG.LOSS_WEIGHTS = edict()
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.rcnn_cls_weight: 1.0
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.rcnn_reg_weight: 1.0
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.rcnn_corner_weight: 1.0
2020-07-29 23:29:10,248   INFO  cfg.MODEL.ROI_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
2020-07-29 23:29:10,248   INFO  
cfg.MODEL.POST_PROCESSING = edict()
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.SCORE_THRESH: 0.1
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.OUTPUT_RAW_SCORE: False
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.EVAL_METRIC: kitti
2020-07-29 23:29:10,248   INFO  
cfg.MODEL.POST_PROCESSING.NMS_CONFIG = edict()
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.NMS_CONFIG.MULTI_CLASSES_NMS: False
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_TYPE: nms_gpu
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_THRESH: 0.1
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_PRE_MAXSIZE: 4096
2020-07-29 23:29:10,248   INFO  cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_POST_MAXSIZE: 500
2020-07-29 23:29:10,248   INFO  
cfg.OPTIMIZATION = edict()
2020-07-29 23:29:10,248   INFO  cfg.OPTIMIZATION.OPTIMIZER: adam_onecycle
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.LR: 0.01
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.WEIGHT_DECAY: 0.01
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.MOMENTUM: 0.9
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.MOMS: [0.95, 0.85]
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.PCT_START: 0.4
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.DIV_FACTOR: 10
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.DECAY_STEP_LIST: [35, 45]
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.LR_DECAY: 0.1
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.LR_CLIP: 1e-07
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.LR_WARMUP: False
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.WARMUP_EPOCH: 1
2020-07-29 23:29:10,249   INFO  cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10
2020-07-29 23:29:10,249   INFO  cfg.TAG: pv_rcnn
2020-07-29 23:29:10,249   INFO  cfg.EXP_GROUP_PATH: home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/cfgs/kitti_models
2020-07-29 23:29:10,293   INFO  Loading KITTI dataset
2020-07-29 23:29:10,297   INFO  Total samples for KITTI dataset: 154
2020-07-29 23:29:11,789   INFO  ==> Loading parameters from checkpoint /home/sarim/PycharmProjects/obj3d/OpenPCDet/pv_rcnn_8369.pth to GPU
2020-07-29 23:29:12,477   INFO  ==> Done (loaded 367/367)
2020-07-29 23:29:12,499   INFO  *************** EPOCH 8369 EVALUATION *****************
eval:   0%|          | 0/10 [00:00<?, ?it/s]Traceback (most recent call last):
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/test.py", line 190, in <module>
    main()
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/test.py", line 186, in main
    eval_single_ckpt(model, test_loader, args, eval_output_dir, logger, epoch_id, dist_test=dist_test)
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/test.py", line 60, in eval_single_ckpt
    result_dir=eval_output_dir, save_to_file=args.save_to_file
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/tools/eval_utils/eval_utils.py", line 54, in eval_one_epoch
    for i, batch_dict in enumerate(dataloader):
  File "/home/sarim/anaconda3/envs/spconv-1.0/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 582, in __next__
    return self._process_next_batch(batch)
  File "/home/sarim/anaconda3/envs/spconv-1.0/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 608, in _process_next_batch
    raise batch.exc_type(batch.exc_msg)
IndexError: Traceback (most recent call last):
  File "/home/sarim/anaconda3/envs/spconv-1.0/lib/python3.6/site-packages/torch/utils/data/_utils/worker.py", line 99, in _worker_loop
    samples = collate_fn([dataset[i] for i in batch_indices])
  File "/home/sarim/anaconda3/envs/spconv-1.0/lib/python3.6/site-packages/torch/utils/data/_utils/worker.py", line 99, in <listcomp>
    samples = collate_fn([dataset[i] for i in batch_indices])
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/pcdet/datasets/kitti/kitti_dataset.py", line 364, in __getitem__
    annos = common_utils.drop_info_with_name(annos, name='DontCare')
  File "/home/sarim/PycharmProjects/obj3d/OpenPCDet/pcdet/utils/common_utils.py", line 29, in drop_info_with_name
    ret_info[key] = info[key][keep_indices]
IndexError: index 3 is out of bounds for axis 0 with size 3

eval:   0%|          | 0/10 [00:00<?, ?it/s]

I am using one of the folders of the Kitti tracking dataset. I am using folder 0000 which has 154 images. Of course, I followed the instructions and setup the directory with the kitti files as below:

PCDet
├── data
│   ├── kitti
│   │   │──ImageSets
│   │   │──training
│   │   │   ├──calib & velodyne & label_2 & image_2
│   │   │──testing
│   │   │   ├──calib & velodyne & image_2
├── pcdet
├── tools

Then I run the following to generate data info: python -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml

Everything runs smoothly with no errors. However, I am unable to run test.py. I decided to go to the following piece of code where the error occurs:

def drop_info_with_name(info, name):
    ret_info = {}
    keep_indices = [i for i, x in enumerate(info['name']) if x != name]
    for key in info.keys():
        ret_info[key] = info[key][keep_indices]
    return ret_info

and change it to the following:

def drop_info_with_name(info, name):
    ret_info = {}
    keep_indices = [i for i, x in enumerate(info['name']) if x != name]
    **print(keep_indices)**
    for key in info.keys():
        **print(info[key])**
        ret_info[key] = info[key][keep_indices]
    return ret_info

Following is the output of those print lines:

[2, 3, 4]
['DontCare' 'DontCare' 'Van' 'Cyclist' 'Van']
[2, 3, 4]
['DontCare' 'DontCare' 'Van' 'Cyclist' 'Pedestrian']
[-1. -1.  0.  0.  0.]
[2, 3, 4]
['DontCare' 'DontCare' 'Van' 'Cyclist' 'Van']
[-1. -1.  0.  0.  0.]
[-1. -1.  0.  0.  1.]
[-10.       -10.        -1.524181  -2.077898   2.156544]
[[314.45    175.77    354.36    214.01   ]
 [486.16    171.31    510.18    210.49   ]
 [351.7933  158.39027 436.92963 248.79247]
 [617.8805  162.75584 769.48883 346.56567]
 [585.9346  157.92142 687.68207 210.18051]]
[[-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [ 4.433886e+00  2.000000e+00  1.823255e+00]
 [ 1.785241e+00  1.739063e+00  8.245910e-01]
 [ 5.530314e+00  2.195312e+00  1.895275e+00]]
[[-10.        -1.        -1.      ]
 [-10.        -1.        -1.      ]
 [ -5.394201   1.70552   18.369246]
 [  0.791155   1.653512   7.805084]
 [  1.320341   1.58813   33.094772]]
[-1.       -1.       -1.806513 -1.982495  2.195507]
[-1. -1. -1. -1. -1.]
[1 0 0 0 1]
[ 0  1  2 -1 -1]
[[-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [ 1.86577015e+01  5.41223431e+00 -5.28653383e-01  4.43388600e+00
   1.82325500e+00  2.00000000e+00  2.35716673e-01]]
[1, 2, 3]
[-1. -1.  0.  0.  0.]
[-10.       -10.        -1.793451  -1.936993  -2.523309]
[[ 219.31     188.49     245.5      218.56   ]
 [  47.56     195.28     115.48     221.48   ]
 [ 296.74496  161.75215  455.22604  292.3728 ]
 [ 737.6195   161.53195  931.11224  374.     ]
 [1106.1373   166.57681 1204.4706   323.87613]]
['DontCare' 'Van' 'Cyclist' 'Van']
[[-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [ 4.433886e+00  2.000000e+00  1.823255e+00]
 [ 1.785241e+00  1.739063e+00  8.245910e-01]
 [ 9.722830e-01  1.714062e+00  7.678810e-01]]
[-1.  0.  0.  0.]
[-1.  0.  0.  1.]
[-10.        -1.806616  -2.086753   2.150912]
[[174.69    172.71    277.4     214.53   ]
 [278.58374 152.92564 415.32642 259.07593]
 [742.82245 166.23393 938.4819  374.     ]
 [454.5196  166.66382 543.91614 211.89334]]
[[-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [ 4.433886e+00  2.000000e+00  1.823255e+00]
 [ 1.785241e+00  1.739063e+00  8.245910e-01]
 [ 5.530314e+00  2.195312e+00  1.895275e+00]]
[[-10.        -1.        -1.      ]
 [ -5.981431   1.653812  15.935761]
 [  1.902311   1.701763   6.412183]
 [ -5.718926   1.922118  37.919636]]
[[-10.        -1.        -1.      ]
 [-10.        -1.        -1.      ]
 [ -4.552284   1.858523  13.410495]
 [  1.6404     1.67566    5.776261]
 [  6.301919   1.652419   8.455685]]
[-1.       -1.       -2.115488 -1.675458 -1.900245]
[-1. -1. -1. -1. -1.]
[1 1 0 0 0]
[ 0  1  2 -1 -1]
[-1. -1.  0.  0.  0.]
[-1. -1.  2.  0.  1.]
[-10.       -10.        -1.253939  -1.823095   2.110532]
[[501.6     178.61    581.97    212.65   ]
 [939.73    148.94    973.06    220.81   ]
 [581.0185  158.48978 699.005   244.03275]
 [589.5636  165.56538 706.90405 345.95285]
 [804.18506 154.7078  942.11945 225.06653]]
[[-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [ 1.37010174e+01  4.57136440e+00 -7.42358446e-01  4.43388600e+00
   1.82325500e+00  2.00000000e+00  5.44691673e-01]]
[[-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [-1.000000e+03 -1.000000e+03 -1.000000e+03]
 [ 4.433886e+00  2.000000e+00  1.823255e+00]
 [ 1.785241e+00  1.739063e+00  8.245910e-01]
 [ 5.530314e+00  2.195312e+00  1.895275e+00]]
[[-10.        -1.        -1.      ]
 [-10.        -1.        -1.      ]
 [  0.906234   1.689736  19.257484]
 [  0.310684   1.681272   7.931642]
 [  9.179073   1.638459  24.982485]]
[-1.       -1.       -1.208547 -1.787366  2.458248]
[-1. -1. -1. -1. -1.]
[1 0 2 0 1]
[ 0  1  2 -1 -1]
[-1.       -2.16077  -1.812559  2.001759]
[-1. -1. -1. -1.]
[0 0 0 1]
[ 0  1  2 -1]
[[-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [ 1.62236710e+01  5.99858284e+00 -4.96181130e-01  4.43388600e+00
   1.82325500e+00  2.00000000e+00  5.89973673e-01]
 [ 6.70296526e+00 -1.88539684e+00 -8.57408881e-01  1.78524100e+00
   8.24591000e-01  1.73906300e+00  2.41762673e-01]]
[[-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [-7.39839077e-01  9.98678303e+00 -4.98977203e+02 -1.00000000e+03
  -1.00000000e+03 -1.00000000e+03 -5.70796327e-01]
 [ 1.95472069e+01 -8.87905121e-01 -5.70142388e-01  4.43388600e+00
   1.82325500e+00  2.00000000e+00 -3.62249327e-01]]

Can anyone explain to me what is wrong here? Thanks!

Issue Analytics

  • State:closed
  • Created 3 years ago
  • Comments:7

github_iconTop GitHub Comments

1reaction
JiangZongKangcommented, Oct 22, 2020

have you solve this problem? I also want to use kitti tracking data ,and I change the format of them to detection format, and encounter the same problem, if you have solved this problem, can you share it? thanks

yes, DontCare should be the last

0reactions
yustaubcommented, Oct 22, 2020

thanks， I got it. @JiangZongKang

Read more comments on GitHub >

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