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PJLab-ADG / 3DTrans

An open-source codebase for exploring autonomous driving pre-training
https://bobrown.github.io/Team_3DTrans.github.io/
Apache License 2.0
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Groundtruth dimension mismatched #7

Closed Sean8504 closed 1 year ago

Sean8504 commented 1 year ago

Dear author,

Thank you for your great work. I am try to reproduce your result (MDF) with waymo and nuscenes dataset, but when merge two batches from waymo and nuscenes, error occurred:

batch = common_utils.merge_two_batch_dict(batch_1, batch_2) File "../pcdet/utils/common_utils.py", line 670, in merge_two_batch_dict batch_merge_dict[key] = np.concatenate(tar_list_merge, axis=0) File "<__array_function__ internals>", line 5, in concatenate ValueError: all the input array dimensions for the concatenation axis must match exactly, but along dimension 2, the array at index 0 has size 10 and the array at index 1 has size 8

It seems the gt from nuscenes is mismatched with gt from waymo

Could you tell me how you avoid such issue?

B.R Thank you

BOBrown commented 1 year ago

Thanks for your attention:

When performing the MDF setting, it is necessary that the GTs from both datasets (such as Waymo and nuScenes) are the same dimension. This bug is due to that the dimension of GTs for Waymo dataset is 8, while 10 for nuScenes dataset.

Trying to set the in PRED_VELOCITY: False in yaml file.