Hello @filaPro

I was reading your paper and trying to implement your method on an RGB dataset that I have collected.

While trying to test your code, it looks like you also need KITTI Velodyne data to be downloaded. Does your method use lidar point cloud or else you are using point cloud dataset for some other purpose.

Thank you for sharing the code and your help.

When I installed the mmcv-full=1.3.8, the error is below. Traceback (most recent call last): File "tools/test.py", line 9, in <module> from mmdet3d.apis import single_gpu_test File "/newnfs/zzwu/08_3d_code/imvoxelnet03/mmdet3d/__init__.py", line 26, in <module> f'MMCV=={mmcv.__version__} is used but incompatible. ' \ AssertionError: MMCV==1.3.8 is used but incompatible. Please install mmcv>=1.1.5, <=1.3.0. When I install the mmcv-full=1.3.1, the error is below. Traceback (most recent call last): File "tools/test.py", line 9, in <module> from mmdet3d.apis import single_gpu_test File "/newnfs/zzwu/08_3d_code/imvoxelnet03/mmdet3d/__init__.py", line 3, in <module> import mmdet File "/home/CN/zizhang.wu/anaconda3/envs/imvoxelnet03/lib/python3.7/site-packages/mmdet/__init__.py", line 25, in <module> f'MMCV=={mmcv.__version__} is used but incompatible. ' \ AssertionError: MMCV==1.3.1 is used but incompatible. Please install mmcv>=1.3.8, <=1.4.0.

Hello,

Thank you for your work. I have a few questions I wish to have clarified. Context: I am creating a dataset in SUN-RGBD format, and so I would like to understand the format structure.

1. Looks like the "calib" file (once you run the matlab files in SUN-RGBD folder) contains two rows. The first, is the camera extrinsic. However, it is named "Rt" which in my mind should be a 3x4 matrix, but it is stored as a column-major 3x3 matrix. Which coordinates system does this extrinsic parameter transform? From what I understand it rotates from depth coordinate system to camera coordinate system. Then in the ground truth labeling the translation and yaw angle will take care of the bounding box position and orientation. Is this understanding correct?

2. In MMDetection3D there is a "browse_dataset" file that allows you to view your ground truths of your dataset to confirm it is correct before training. I was wondering if there is one for the SUN-RGBD in ImVoxelNet, as it would be helpful to see if my custom labels in SUN-RGBD format is correct.

3. I am trying to use the Dockerfile provided, however my machine runs CUDA version 11.1 (RTX 3090 so from my understanding i cannot downgrade to 10.1), which means pytorch>=1.8.0. I change the mmcv-full and mmdet to compatible, most recent versions, but i run into Runtime error "... is not complied with GPU support". Any suggestions here to make the Dockerfile compatible with cuda 11.1? (Running with provided dockerfile gives "CUDA error: no kernel image is available for execution on the device")

Again, thank you for your time!

Can not visualize the output results based on SUN RGB-D!

python tools/test.py configs/imvoxelnet/imvoxelnet_sunrgbd.py work_dirs/epoch_12.pth --show --show-dir work_dirs/imvoxelnet_sunrgbd/results

The output is an original image.

Thanks for sharing the codes. I met the error, but I never modified anything. The script is : python tools/create_data.py kitti --root-path ./data/kitti --out-dir ./data/kitti --extra-tag kitti The result is: Traceback (most recent call last): File "tools/create_data.py", line 4, in <module> from tools.data_converter import indoor_converter as indoor ModuleNotFoundError: No module named 'tools.data_converter'

Hi. Thank you for your great work! I have successfully trained and tested your model using KITTI dataset and it works.

I currently trying to train a custom dataset (which is not car), but somehow the loss and AP is 0 I have correctly set the image size and the dataset was already validated and it is good. do you have any suggestion? I might miss some config.

Hello, I try to understand the transformation you do on 'tmp_box' in the following code: https://github.com/saic-vul/imvoxelnet/blob/master/tools/data_converter/nuscenes_monocular_converter.py#L108-L114 But I really couldn't make it. Can you explain the insight of this transformation? Thank you.

Hi, when i run test.py for scannet dataset, i met one error. please help, thanks very much.

root@65eb20bdb6a8:/mmdetection3d# python tools/test.py configs/imvoxelnet/imvoxelnet_scannet.py ./data/checkpoints/scannet.pth --show --show-dir ./data/scannet/show-dir/ Use load_from_local loader [ ] 0/6, elapsed: 0s, ETA:Traceback (most recent call last): File "tools/test.py", line 153, in main() File "tools/test.py", line 129, in main outputs = single_gpu_test(model, data_loader, args.show, args.show_dir) File "/mmdetection3d/mmdet3d/apis/test.py", line 27, in single_gpu_test for i, data in enumerate(data_loader): File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/dataloader.py", line 363, in next data = self._next_data() File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/dataloader.py", line 989, in _next_data return self._process_data(data) File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/dataloader.py", line 1014, in _process_data data.reraise() File "/opt/conda/lib/python3.7/site-packages/torch/_utils.py", line 395, in reraise raise self.exc_type(msg)

Original Traceback (most recent call last): File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/_utils/worker.py", line 185, in _worker_loop data = fetcher.fetch(index) File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/_utils/fetch.py", line 44, in fetch data = [self.dataset[idx] for idx in possibly_batched_index] File "/opt/conda/lib/python3.7/site-packages/torch/utils/data/_utils/fetch.py", line 44, in data = [self.dataset[idx] for idx in possibly_batched_index] File "/mmdetection3d/mmdet3d/datasets/custom_3d.py", line 292, in getitem return self.prepare_test_data(idx) File "/mmdetection3d/mmdet3d/datasets/custom_3d.py", line 166, in prepare_test_data input_dict = self.get_data_info(index) File "/mmdetection3d/mmdet3d/datasets/scannet_monocular_dataset.py", line 19, in get_data_info for i in range(len(info['image_paths'])): KeyError: 'image_paths'

Hello， Thanks for your excellent work！ I noticed that you have processed the annotation for SUN RGB-D to coco format, could you please tell me your data processing method and the basis of splits. I have generated the visiualzation for val part， but I cannnot find the samples showed in the paper of Total3D, Is it because you divided the data set differently?

Best, Harvey

run

$ bash tools/dist_test.sh configs/imvoxelnet/imvoxelnet_kitti.py work_dirs/20210503_214214.pth 1 --eval mAP

and report:

Traceback (most recent call last):
  File "tools/test.py", line 9, in <module>
    from mmdet3d.apis import single_gpu_test
  File "/home/xxx/imvoxelnet-master/mmdet3d/apis/__init__.py", line 1, in <module>
    from .inference import inference_detector, init_detector, show_result_meshlab
  File "/home/xxx/imvoxelnet-master/mmdet3d/apis/inference.py", line 8, in <module>
    from mmdet3d.core import Box3DMode, show_result
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/__init__.py", line 2, in <module>
    from .bbox import *  # noqa: F401, F403
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/bbox/__init__.py", line 4, in <module>
    from .iou_calculators import (AxisAlignedBboxOverlaps3D, BboxOverlaps3D,
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/bbox/iou_calculators/__init__.py", line 1, in <module>
    from .iou3d_calculator import (AxisAlignedBboxOverlaps3D, BboxOverlaps3D,
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py", line 5, in <module>
    from ..structures import get_box_type
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/bbox/structures/__init__.py", line 1, in <module>
    from .base_box3d import BaseInstance3DBoxes
  File "/home/xxx/imvoxelnet-master/mmdet3d/core/bbox/structures/base_box3d.py", line 5, in <module>
    from mmdet3d.ops.iou3d import iou3d_cuda
  File "/home/xxx/imvoxelnet-master/mmdet3d/ops/__init__.py", line 5, in <module>
    from .ball_query import ball_query
  File "/home/xxx/imvoxelnet-master/mmdet3d/ops/ball_query/__init__.py", line 1, in <module>
    from .ball_query import ball_query
  File "/home/xxx/imvoxelnet-master/mmdet3d/ops/ball_query/ball_query.py", line 4, in <module>
    from . import ball_query_ext
ImportError: cannot import name 'ball_query_ext' from 'mmdet3d.ops.ball_query' (/home/xxx/imvoxelnet-master/mmdet3d/ops/ball_query/__init__.py)
Traceback (most recent call last):
  File "/home/xxx/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/home/xxx/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/home/xxx/lib/python3.7/site-packages/torch/distributed/launch.py", line 261, in <module>
    main()
  File "/home/xxx/lib/python3.7/site-packages/torch/distributed/launch.py", line 257, in main
    cmd=cmd)
subprocess.CalledProcessError: Command '['/home/xxx/bin/python3', '-u', 'tools/test.py', '--local_rank=0', 'configs/imvoxelnet/imvoxelnet_kitti.py', 'work_dirs/20210503_214214.pth', '--launcher', 'pytorch', '--eval', 'mAP']' returned non-zero exit status 1.

Hi. @filaPro Thanks for sharing the code. I noticed that your original paper only mentioned results of "car" in nuScenes. I want to see how it performs under multi-classes. I modified this line to make the network output support 10 classes. https://github.com/saic-vul/imvoxelnet/blob/3512e89ca98e48aebb21a4c9e9fbe5037220b3a4/configs/imvoxelnet/imvoxelnet_nuscenes.py#L26

I modified it to num_classes=10, But still I only get results for single class "car". The other classes are all 0 for mAP. Did you tired this before? Can you help me?

Hi, I have question about the installation, you mentioned "replacing open-mmlab/mmdetection3d with saic-vul/imvoxelnet", what does this mean? Should we first install mmdetection3d? Or just install saic-vul/imvoxelnet?

Thanks!

hello, I find some problems about 'val', I found that there was a problem with the code in line 144 'val_dataset.pipeline = cfg.data.train.pipeline', and it needs to be changed to this val_dataset.pipeline = cfg.data.train.dataset.pipeline. right?

Hi filaPro, Thank you for your brilliant work in 3D detection. I'm trying to train imvoxelnet on my own dataset which only has world2cam matrix, but no lidar2cam matrix compared with kitti dataset. Is lidar2cam matrix is necessary for training? If so, can I train with world2cam matrix? Thank you!

Hello,

I am experimenting with a custom dataset on ImVoxelNet. My dataset is ~2000 images, and i am running into extreme overfitting issues. For example the prediction on the validation image is in the same pattern as some of the training image predictions.

I was looking through what could be the case, I guess I could try playing with the lr and scheduler. however, I was also looking into voxel size and number. Do you think this could have any affect on the outcome? Any other advice? Thanks!

I'm playing with the SUN RGB-D model for (v3 | [email protected]: 43.7 which uses 20211007_105247.pth and imvoxelnet_total_sunrgbd_fast.py).

For each image I'm testing, I have the RGB and a 3x3 intrinsic matrix only which goes from camera space to screen.

I've been able to follow the demo code in general so far! Perhaps I'm missing it, but the flow and pipeline for the available demo's appear to not use the outputs for layout / angles? However, the visualized images elsewhere seem to have layout or room tilt predictions applied along with the per-object yaw angles.

I want to make sure that I'm using the SUN RBG-D model correctly. Are there any examples I can follow to make sure I can apply the room tilts to the objects? E.g., say if my end goal is a 8 vertex mesh per object that is in camera coordinates?

For instance, show_result and _write_oriented_bbox seem to only use the yaw angle. It seems like those are the two main functions for visualizing (unless I'm missing some code).

To be clear, the predictions are definitely being made as expected. It's only the exact steps for applying them that are ambiguous to me