KeyError when doing "2.Prepared nuScenes 3D detection data" with create_data.py

[ArdrieuxPan]

Environment

docker container, with image sudo nvidia-docker run -it -p 7600:7600 -p 8022:22 --name="occnet" -v /home/apan/occnet_ws:/home/occnet_ws -it pytorch/pytorch:1.10.0-cuda11.3-cudnn8-devel /bin/bash, python==3.7

Problem

when doing step '2.Prepared nuScenes 3D detection data' with create_data.py, there would be a KeyError:

v1.0-trainval ./data/nuscenes
======
Loading NuScenes tables for version v1.0-trainval...
23 category,
8 attribute,
4 visibility,
64386 instance,
12 sensor,
10200 calibrated_sensor,
2631083 ego_pose,
68 log,
850 scene,
34149 sample,
2631083 sample_data,
1166187 sample_annotation,
4 map,
Done loading in 27.901 seconds.
======
Reverse indexing ...
Done reverse indexing in 6.5 seconds.
======
total scene num: 850
exist scene num: 850
train scene: 700, val scene: 150
[                                                  ] 0/34149, elapsed: 0s, ETA:Traceback (most recent call last):
  File "tools/create_data.py", line 249, in <module>
    max_sweeps=args.max_sweeps)
  File "tools/create_data.py", line 75, in nuscenes_data_prep
    root_path, out_dir, can_bus_root_path, info_prefix, version=version, max_sweeps=max_sweeps)
  File "/home/occnet_ws/OccNet/tools/data_converter/nuscenes_converter.py", line 93, in create_nuscenes_infos
    nusc, nusc_can_bus, train_scenes, val_scenes, test, max_sweeps=max_sweeps)
  File "/home/occnet_ws/OccNet/tools/data_converter/nuscenes_converter.py", line 237, in _fill_trainval_infos
    l2e_r = info['lidar2ego_rotation']
KeyError: 'lidar2ego_rotation'

I shift the console to path /home/occnet_ws/OccNet,while the file organized as follow:

home/occnet_ws/OccNet/data# tree -L 2
|-- can_bus
|   |-- basemap
|   |-- expansion
|   `-- prediction
|-- nuscenes
|   |-- maps
|   |-- readme.md
|   |-- samples
|   |-- sweeps
|   |-- v1.0-test
|   `-- v1.0-trainval
`-- occ_gt_release_v1_0
    |-- nuscenes_infos_temporal_train_occ_gt.pkl
    |-- nuscenes_infos_temporal_val_occ_gt.pkl
    |-- occ_gt_train.json
    |-- occ_gt_val.json
    |-- train
    `-- val

then I found 'lidar2ego_rotation' in nuscene_converter.py line 237, there is no declaration about this key:

# started from line 215

        info = {
            'lidar_path': lidar_path,
            'token': sample['token'],
            'prev': sample['prev'],
            'next': sample['next'],
            'can_bus': can_bus,
            'frame_idx': frame_idx,  # temporal related info
            'sweeps': [],
            'cams': dict(),
            'scene_token': sample['scene_token'],  # temporal related info
            'scene_name': scene_name,
            'lidar2ego_translation': cs_record['translation'],
            'ego2global_rotation': pose_record['rotation'],
            'timestamp': sample['timestamp'],
        }

        if sample['next'] == '':
            frame_idx = 0
        else:
            frame_idx += 1

        l2e_r = info['lidar2ego_rotation']
        l2e_t = info['lidar2ego_translation']
        e2g_r = info['ego2global_rotation']
        e2g_t = info['ego2global_translation']
        l2e_r_mat = Quaternion(l2e_r).rotation_matrix
        e2g_r_mat = Quaternion(e2g_r).rotation_matrix

...

`

`

[aksjdakwhdijahskjdhkajbsf]

Me too. Check it please!

[tongwwt]

Thanks for your comment. The variable info should be defined as

info = {
            'lidar_path': lidar_path,
            'token': sample['token'],
            'prev': sample['prev'],
            'next': sample['next'],
            'can_bus': can_bus,
            'frame_idx': frame_idx,  # temporal related info
            'sweeps': [],
            'cams': dict(),
            'scene_token': sample['scene_token'],  # temporal related info
            'scene_name': scene_name,
            'lidar2ego_translation': cs_record['translation'],
            'lidar2ego_rotation': cs_record['rotation'],
            'ego2global_translation': pose_record['translation'],
            'ego2global_rotation': pose_record['rotation'],
            'timestamp': sample['timestamp'],
        }