Did anyone face the same issue as below?

Traceback (most recent call last): File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main return _run_code(code, main_globals, None, File "/usr/lib/python3.8/runpy.py", line 87, in _run_code exec(code, run_globals) File "/home/-/BtcDet/btcdet/datasets/multifindbestfit.py", line 494, in find_best_match_boxpnts(all_db_infos_lst, box_dims_lst, sorted_iou, pnt_thresh_best_iou_indices, mirrored_pnts_lst, pnts_lst, coords_num, occ_map, bm_dir_save_path, allrange, nx, ny, voxel_size, max_num_bm=max_num_bm_lst[i], num_extra_coords=num_extra_coords_lst[i], iou_thresh=iou_thresh_lst[i], ex_coords_ratio=ex_coords_ratio_lst[i], nearest_dist=nearest_dist_lst[i], vis=vis, save=save) File "/home/-/BtcDet/btcdet/datasets/multifindbestfit.py", line 330, in find_best_match_boxpnts bm_pnts, bm_coords_num = find_multi_best_match_boxpnts(selected_sorted_iou, cur_box, cur_mirrored_pnts_lst, cur_pnts_lst, selected_mirrored_pnts_lst, selected_pnts_lst, selected_pnt_thresh_best_iou_indices, cur_occ_map, selected_occ_map, max_num_bm=max_num_bm, num_extra_coords=num_extra_coords, iou_thresh=iou_thresh, ex_coords_ratio=ex_coords_ratio, nearest_dist=nearest_dist, vis=vis) File "/home/-/BtcDet/btcdet/datasets/multifindbestfit.py", line 375, in find_multi_best_match_boxpnts mean_instance, min_instance, max_instance = get_batch_stats(dist_l1, box_num_pnts_tensor, box_mask_tensor, box_reversemask_tensor) File "/home/-/BtcDet/btcdet/datasets/multifindbestfit.py", line 351, in get_batch_stats addmax_dist = masked_dist - reversemask_arry RuntimeError: CUDA out of memory. Tried to allocate 198.00 MiB (GPU 0; 10.92 GiB total capacity; 8.94 GiB already allocated; 128.69 MiB free; 9.86 GiB reserved in total by PyTorch) If reserved memory is >> allocated memory try setting max_split_size_mb to avoid fragmentation. See documentation for Memory Management and PYTORCH_CUDA_ALLOC_CONF

Hello!author, i finally succesfully install the spconv, and my environment is torch1.4, when i run the train.py, it raise: File "/data1/hx/BtcDet/btcdet/models/occ_pnt/occ_training_targets/occ_targets_template.py", line 88, in point2coords_inrange coords = torch.minimum(coords, max_grid_tensor) AttributeError: module 'torch' has no attribute 'minimum' why??? is the torch version wrong??(i also use torch1.3, it raise the same wrong)

Dear author: thanks for your wonderful work!!! my ubuntu is 20.04 and i follow the "spconv" , which say i can use "pip install spconv-cu113" to install spconv, and after this, i run your "python setup.py develop " and there is no wrong. But when i run the train.py, it raise wrong: AttributeError: module 'spconv' has no attribute 'SparseConv3d', this looks like "python setup.py develop" is actually failed (T T). Am i guess right? could you help me? look forward your response!!!!!!~~~~~

Thanks for sharing. This is my reproduction results. The experiment is running on 8 gpus and config is not changed.

2022-01-10 21:31:31,266 INFO recall_roi_0.5: 0.964236 INFO:btcdet.utils.common_utils:recall_roi_0.5: 0.964236 2022-01-10 21:31:31,266 INFO recall_rcnn_0.5: 0.967569 INFO:btcdet.utils.common_utils:recall_rcnn_0.5: 0.967569 2022-01-10 21:31:31,266 INFO recall_roi_0.7: 0.816458 INFO:btcdet.utils.common_utils:recall_roi_0.7: 0.816458 2022-01-10 21:31:31,267 INFO recall_rcnn_0.7: 0.868125 INFO:btcdet.utils.common_utils:recall_rcnn_0.7: 0.868125 2022-01-10 21:31:31,267 INFO *************************** INFO:btcdet.utils.common_utils: *************************** 2022-01-10 21:31:31,267 INFO precision: 0.531, recall: 0.717, f1: 0.599, precision_factored: 0.536 recall_factored: 0.723, f1_factored: 0.604 INFO:btcdet.utils.common_utils:precision: 0.531, recall: 0.717, f1: 0.599, precision_factored: 0.536 recall_factored: 0.723, f1_factored: 0.604 2022-01-10 21:31:31,267 INFO occ thresh 0.1: 0.953, occ thresh 0.2: 0.953, occ thresh 0.3: 0.953, occ thresh 0.4: 0.938, occ thresh 0.5: 0.914, occ thresh 0.6: 0.883, occ thresh 0.7: 0.833, occ thresh 0.8: 0.720, occ thresh 0.9: 0.233, INFO:btcdet.utils.common_utils:occ thresh 0.1: 0.953, occ thresh 0.2: 0.953, occ thresh 0.3: 0.953, occ thresh 0.4: 0.938, occ thresh 0.5: 0.914, occ thresh 0.6: 0.883, occ thresh 0.7: 0.833, occ thresh 0.8: 0.720, occ thresh 0.9: 0.233, 2022-01-10 21:31:31,267 INFO total_pos_all_portion 0.599 INFO:btcdet.utils.common_utils: total_pos_all_portion 0.599 2022-01-10 21:31:31,269 INFO Average predicted number of objects(3769 samples): 4.237 INFO:btcdet.utils.common_utils:Average predicted number of objects(3769 samples): 4.237 pc, rc (1, 3, 2, 41) (1, 3, 2, 41) pc, rc (1, 3, 2, 41) (1, 3, 2, 41) 2022-01-10 21:31:37,601 INFO Car [email protected], 0.70, 0.70: bbox AP:90.6649, 89.7338, 89.2758 bev AP:90.0933, 88.1567, 87.6482 3d AP:89.0296, 85.5022, 78.6749 aos AP:44.18, 44.36, 44.10 Car [email protected], 0.70, 0.70: bbox AP:96.6044, 95.3285, 92.9333 bev AP:93.5117, 91.5184, 89.2229 3d AP:92.0635, 85.2752, 82.9497 aos AP:45.29, 43.36, 42.14 Car [email protected], 0.50, 0.50: bbox AP:90.6649, 89.7338, 89.2758 bev AP:90.6736, 89.7183, 89.2712 3d AP:90.6736, 89.7061, 89.2479 aos AP:44.18, 44.36, 44.10 Car [email protected], 0.50, 0.50: bbox AP:96.6044, 95.3285, 92.9333 bev AP:96.6282, 95.4054, 92.9708 3d AP:96.6199, 95.3687, 92.9303 aos AP:45.29, 43.36, 42.14

Hi, Could you tell me which tools you used to visualize the voxel? I really love the style of your figure in the paper, but I can't find a library that allows the transparent visualization of voxels.(Occ in the paper) Thanks for any help.

Getting an error when I run: python -m btcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml

/home/cad297/anaconda3/envs/btc/lib/python3.6/runpy.py:125: RuntimeWarning: 'btcdet.datasets.kitti.kitti_dataset' found in sys.modules after import of package 'btcdet.datasets.kitti', but prior to execution of 'btcdet.datasets.kitti.kitti_dataset'; this may result in unpredictable behaviour warn(RuntimeWarning(msg)) /home/cad297/projects/BtcDet/btcdet/datasets/kitti/kitti_dataset.py:539: YAMLLoadWarning:calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. dataset_cfg = EasyDict(yaml.load(open(sys.argv[2]))) ROOT_DIR /home/cad297/projects/BtcDet cur_cfg.NAME mask_points_and_boxes_outside_range cur_cfg.NAME shuffle_points cur_cfg.NAME transform_points_to_voxels self.dataset_cfg.INFO_PATH {'train': ['kitti_infos_train.pkl'], 'test': ['kitti_infos_val.pkl']} ---------------Start to generate data infos--------------- cur_cfg.NAME mask_points_and_boxes_outside_range cur_cfg.NAME shuffle_points cur_cfg.NAME transform_points_to_voxels Traceback (most recent call last): File "/home/cad297/anaconda3/envs/btc/lib/python3.6/runpy.py", line 193, in _run_module_as_main "main", mod_spec) File "/home/cad297/anaconda3/envs/btc/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/home/cad297/projects/BtcDet/btcdet/datasets/kitti/kitti_dataset.py", line 548, in save_path=path File "/home/cad297/projects/BtcDet/btcdet/datasets/kitti/kitti_dataset.py", line 475, in create_kitti_infos kitti_infos_train = dataset.get_infos(num_workers=workers, has_label=True, count_inside_pts=True) File "/home/cad297/projects/BtcDet/btcdet/datasets/kitti/kitti_dataset.py", line 201, in get_infos return list(infos) File "/home/cad297/anaconda3/envs/btc/lib/python3.6/concurrent/futures/_base.py", line 586, in result_iterator yield fs.pop().result() File "/home/cad297/anaconda3/envs/btc/lib/python3.6/concurrent/futures/_base.py", line 425, in result return self.__get_result() File "/home/cad297/anaconda3/envs/btc/lib/python3.6/concurrent/futures/_base.py", line 384, in __get_result raise self._exception File "/home/cad297/anaconda3/envs/btc/lib/python3.6/concurrent/futures/thread.py", line56, in run result = self.fn(*self.args, **self.kwargs) File "/home/cad297/projects/BtcDet/btcdet/datasets/kitti/kitti_dataset.py", line 158, in process_single_scene annotations['bbox'] = np.concatenate([obj.box2d.reshape(1, 4) for obj in obj_list], axis=0) File "<array_function internals>", line 6, in concatenate ValueError: need at least one array to concatenate

Anyone seen the same? Or have been able to fix?

Thank you for your sharing, that's amazing job! But I can not reimplement the precision result in your paper, could you give me a favor to provide relative checkpoint file?

Hi, I've done every step before this and they all works.

When I try to run sudo python3 setup.py develop it returns no module named torch error but torch is installed and it works. How can I fix this problem.

Thanks in advance

Hi @Xharlie Thanks for the released code. I have a question about this: # min_instance = min_instance.view(gt_boxnum, candidate_num) max_instance = max_instance.view(gt_boxnum, candidate_num) and heuristic = max_instance + ex_coords_ratio / extra_coord_nums.unsqueeze(0) + (sorted_iou.unsqueeze(0) < iou_thresh) * 2.0 + (extra_coord_nums.unsqueeze(0) < 30) * 1.0

why not use min_instance? I think min_instance is more reasonable

When you run this statement ,python -m btcdet.datasets.multifindbestfit , the following error occurs FileNotFoundError: No such file or directory: '/home/z/BtcDet-main/data/kitti/detection3d/gt_database/00003_car_0.bin

hello

i tried to train btcdet. but error occured.

error message : FileNotFoundError: [Errno 2] No such file or directory: '/tmp/BtcDet/data/kitti/detection3d/bm_50maxdist_2num_car/1788_0.pkl'

do you know how to create directory and *.pkl files?

after 'python3 setup.py develop'

Traceback (most recent call last): File "train.py", line 6, in from test import repeat_eval_ckpt File "/tmp/BtcDet/tools/test.py", line 14, in from btcdet.datasets import build_dataloader File "/usr/local/lib/python3.6/dist-packages/btcdet/datasets/init.py", line 5, in from btcdet.utils import common_utils ModuleNotFoundError: No module named 'btcdet.utils'

Hi,

I have been working on the repository and have reproduced the results for "Car" using "btcdet_kitti_car.yaml". However, since there is no config files available for either "Pedestrians" or "Cyclist", I would request you to please provide for the config files for those classes.

Thank you!

It seems that this repo has many bugs, such as this dbinfos, there is no 'kitti_dbinfos_val.pkl' under the kitti dataset． So this error will be reported, has anyone encountered the same error?

  File "/home/algo-3/work/BtcDet/btcdet/datasets/multifindbestfit.py", line 38, in extract_allpnts
    all_db_infos = pickle.load(f)[type]
TypeError: list indices must be integers or slices, not str

https://github.com/Xharlie/BtcDet/blob/80bee34f2f40931600f812a6edbcb27e51cb7ec3/btcdet/datasets/multifindbestfit.py#L33

When you run this statement ,python -m btcdet.datasets.multifindbestfit , the following error occursRuntimeError:expected backend CUDA and dtype Float but got backend CUDA and dtype Long.