Comments (10)
What kind of detection results do you want? KITTI label files of valid/test set? Images/pointcloud images with detection?
you can use python ./pytorch/train.py evaluate ... --pickle_result=False to generate label files, use kitti viewer to visualize detection results in GUI.
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I had tried ./pytorch/train.py evaluate to generate detection result, but unfortunately my GPU had ran out of memory...(even batch_size=1 is too large)
I also tried to use kitti viewer to inference one pointcloud using pretrained model. I click load info and then click load and inferenct network, but it just quit and give me following information :
load 14357 Car database infos
load 2207 Pedestrian database infos
load 734 Cyclist database infos
load 1297 Van database infos
load 56 Person_sitting database infos
load 488 Truck database infos
load 224 Tram database infos
load 337 Misc database infos
[ 11 400 352]
Restoring parameters from /home/tianning/oofs/second.pytorch/pretrained_models/car/voxelnet-204270.tckpt
Traceback (most recent call last):
File "kittiviewer/viewer.py", line 1319, in on_LoadInferenceVxNetPressed
self.on_InferenceVxNetPressed()
File "kittiviewer/viewer.py", line 1308, in on_InferenceVxNetPressed
self.kitti_info, self.points)
File "/home/tianning/oofs/second.pytorch/second/core/inference.py", line 26, in get_inference_input_dict
rect = info['calib/R0_rect']
TypeError: 'NoneType' object is not subscriptable
So i guess maybe i lack some files ? Do you have any idea about this?
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maybe you need to click plot
first. If you can't run evaluate, you may can't run inference in GUI too.
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I will upload a smaller model in one day, maybe you can use it to evaluate/visualize.
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Get it worked with GTX 1080:
I'm planning to use this net in ROS to accomplish real-time detection with vlp-16. Have you ever tried VLP-16 data with your net ?
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I have used this network to detect trucks in a private two-16-lidar dataset, I don't know if it possible to detect cars in complex environment with only one 16-line lidar.
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@Oofs Hi, can you kindly record some video showing it in action? like this.
I wanted to test the model, but my PC works very slow. Thank you for your kindness!
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Hi! @traveller59 I have successfully trained and evaluated the model. Thanks for your great work!
Following your instructions, I meet some problems during the visualization.
- The Groundtruth Boxes are not drawed.
- Could we visualize multiple categories at once? There only draws car detection results.
- I notice that there only 3 configs(car,car.tiny,people) in configs folder. Could we visualize other categories? And how many categories have you trained?
Thanks! Waiting for your reply!
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@traveller59 How does this network perform on 16 lines data?
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@Oofs Excuse me, have you use this net in ROS to accomplish real-time detection with vlp-16? Would you give me some advise, thank you so much.
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Related Issues (20)
- KeyError: 'annotations' when using nuscenes dataset
- KeyError: 'annotations' when using nuscenes dataset HOT 3
- How to start training from interrupted step HOT 1
- About gt_sampling
- ModuleNotFoundError: No module named 'second' HOT 1
- Kitti web viewer backend issue HOT 1
- second.pytorch 1.6.0 Alpha and spconv 2.1 HOT 2
- Convert custom Lidar point cloud data to KITTI format HOT 1
- Summary name eval.kitti/official/Car/[email protected]/1 is illegal; using eval.kitti/official/Car/3d_0.70/1 instead.
- Issues while using Kitti viewer. HOT 1
- Need tips on improving performance on custom dataset
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- About kitti viewer
- second.data HOT 2
- I would like to know how many samples should be used for validation if 3517 samples are used for training?
- Is the sparse library writed by the autuor?
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- 有人试过把这个代码在windows上运行吗
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