Voxel R-CNN on nuScenes dataset

@djiajunustc Hi Jiajun, thanks for your excellent work of Voxel R-CNN. I have tried your Voxel R-CNN model on the datasets of KITTI and Waymo for multi-category detection. And the model performed very well. However, when I tried on the nuScenes dataset, I met the issue like this: File "/pcdet/models/roi_heads/target_assigner/proposal_target_layer.py", line 148, in sample_rois_for_rcnn batch_gt_of_rois[index] = cur_gt[gt_assignment[sampled_inds]] RuntimeError: The expanded size of the tensor (8) must match the existing size (10) at non-singleton dimension 1. Target sizes: [128, 8]. Tensor sizes: [128, 10].

I have tried to analyze and debug the code and model, so far there is no answer. I cannot figure out why the ground-truth’s code shape became to 10. Can you provide me with any enlightenment?

[deepmeng]

Hi @deepmeng , recently, I’d like to use NuScenes datasets, but I am not sure about the performance of Voxel R-CNN. How are your results of Voxel R-CNN on NuScenes?

These are my evaluation results of Voxel R-CNN on the nuScenes dataset.

[czy-0326]

@deepmeng Hello, I try voxelrcnn on nuscenes dataset, and I get the same result as yours.