Open Wangzy-zoey opened 11 months ago
@yukang2017 Please help me !!! Please!!!
I attempted to replicate the results on nuScenes test dataset, and I ran into the same issue. Have you found a fix?
hello, have you fix this problem plz ?
do you use the v1.0-mini dataset from nuscenes? if so, you need to change the version. In tools/cfgs/dataset_configs/nuscenes_dataset.yaml at line 4 you see VERSION: 'v1.0-trainval' if you use mini you need to change it to VERSION: 'v1.0-mini'
do you use the v1.0-mini dataset from nuscenes? if so, you need to change the version. In tools/cfgs/dataset_configs/nuscenes_dataset.yaml at line 4 you see VERSION: 'v1.0-trainval' if you use mini you need to change it to VERSION: 'v1.0-mini'
i tried this but it did not work, is it worked for u?
Yes, after that change it worked for me. You could use the debugger to check if the dataset really got loaded.
~/3Detector/VoxelNeXt/tools: ### python3 test.py --cfg_file /home/wzy/3Detector/VoxelNeXt/tools/cfgs/nuscenes_models/cbgs_voxel0075_voxelnext.yaml --ckpt /home/wzy/3Detector/voxelnext_nuscenes_kernel1.pth
2023-08-09 20:08:21,915 INFO **Start logging** 2023-08-09 20:08:21,915 INFO CUDA_VISIBLE_DEVICES=ALL 2023-08-09 20:08:21,915 INFO cfg_file /home/wzy/3Detector/VoxelNeXt/tools/cfgs/nuscenes_models/cbgs_voxel0075_voxelnext.yaml 2023-08-09 20:08:21,915 INFO batch_size 4 2023-08-09 20:08:21,915 INFO workers 4 2023-08-09 20:08:21,915 INFO extra_tag default 2023-08-09 20:08:21,915 INFO ckpt /home/wzy/3Detector/voxelnext_nuscenes_kernel1.pth 2023-08-09 20:08:21,915 INFO pretrained_model None 2023-08-09 20:08:21,915 INFO launcher none 2023-08-09 20:08:21,915 INFO tcp_port 18888 2023-08-09 20:08:21,915 INFO local_rank 0 2023-08-09 20:08:21,915 INFO set_cfgs None 2023-08-09 20:08:21,915 INFO max_waiting_mins 30 2023-08-09 20:08:21,915 INFO start_epoch 0 2023-08-09 20:08:21,915 INFO eval_tag default 2023-08-09 20:08:21,915 INFO eval_all False 2023-08-09 20:08:21,915 INFO ckpt_dir None 2023-08-09 20:08:21,915 INFO save_to_file False 2023-08-09 20:08:21,915 INFO infer_time False 2023-08-09 20:08:21,915 INFO cfg.ROOT_DIR: /home/wzy/3Detector/VoxelNeXt 2023-08-09 20:08:21,915 INFO cfg.LOCAL_RANK: 0 2023-08-09 20:08:21,915 INFO cfg.CLASS_NAMES: ['car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'] 2023-08-09 20:08:21,915 INFO ----------- DATA_CONFIG ----------- 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATASET: NuScenesDataset 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_PATH: ../data/nuscenes 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.VERSION: v1.0-mini 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.MAX_SWEEPS: 10 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.PRED_VELOCITY: True 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.SET_NAN_VELOCITY_TO_ZEROS: True 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.FILTER_MIN_POINTS_IN_GT: 1 2023-08-09 20:08:21,915 INFO ----------- DATA_SPLIT ----------- 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_SPLIT.train: train 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_SPLIT.test: val 2023-08-09 20:08:21,915 INFO ----------- INFO_PATH ----------- 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.INFO_PATH.train: ['nuscenes_infos_10sweeps_train.pkl'] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.INFO_PATH.test: ['nuscenes_infos_10sweeps_val.pkl'] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [-54.0, -54.0, -5.0, 54.0, 54.0, 3.0] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.BALANCED_RESAMPLING: True 2023-08-09 20:08:21,915 INFO ----------- DATA_AUGMENTOR ----------- 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder'] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.AUG_CONFIG_LIST: [{'NAME': 'gt_sampling', 'DB_INFO_PATH': ['nuscenes_dbinfos_10sweeps_withvelo.pkl'], 'USE_SHARED_MEMORY': False, 'DB_DATA_PATH': ['nuscenes_dbinfos_10sweeps_withvelo_global.pkl.npy'], 'PREPARE': {'filter_by_min_points': ['car:5', 'truck:5', 'construction_vehicle:5', 'bus:5', 'trailer:5', 'barrier:5', 'motorcycle:5', 'bicycle:5', 'pedestrian:5', 'traffic_cone:5']}, 'SAMPLE_GROUPS': ['car:2', 'truck:2', 'construction_vehicle:2', 'bus:2', 'trailer:2', 'barrier:2', 'motorcycle:2', 'bicycle:2', 'pedestrian:2', 'traffic_cone:2'], 'NUM_POINT_FEATURES': 5, 'DATABASE_WITH_FAKELIDAR': False, 'REMOVE_EXTRA_WIDTH': [0.0, 0.0, 0.0], 'LIMIT_WHOLE_SCENE': True}, {'NAME': 'random_world_flip', 'ALONG_AXIS_LIST': ['x', 'y']}, {'NAME': 'random_world_rotation', 'WORLD_ROT_ANGLE': [-0.78539816, 0.78539816]}, {'NAME': 'random_world_scaling', 'WORLD_SCALE_RANGE': [0.9, 1.1]}, {'NAME': 'random_world_translation', 'NOISE_TRANSLATE_STD': [0.5, 0.5, 0.5]}] 2023-08-09 20:08:21,915 INFO ----------- POINT_FEATURE_ENCODING ----------- 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': True}, {'NAME': 'shuffle_points', 'SHUFFLE_ENABLED': {'train': True, 'test': True}}, {'NAME': 'transform_points_to_voxels', 'VOXEL_SIZE': [0.075, 0.075, 0.2], 'MAX_POINTS_PER_VOXEL': 10, 'MAX_NUMBER_OF_VOXELS': {'train': 120000, 'test': 160000}}] 2023-08-09 20:08:21,915 INFO cfg.DATA_CONFIG._BASECONFIG: cfgs/dataset_configs/nuscenes_dataset.yaml 2023-08-09 20:08:21,915 INFO ----------- MODEL ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.NAME: VoxelNeXt 2023-08-09 20:08:21,916 INFO ----------- VFE ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.VFE.NAME: MeanVFE 2023-08-09 20:08:21,916 INFO ----------- BACKBONE_3D ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.BACKBONE_3D.NAME: VoxelResBackBone8xVoxelNeXt 2023-08-09 20:08:21,916 INFO ----------- DENSE_HEAD ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.NAME: VoxelNeXtHead 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.CLASS_AGNOSTIC: False 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.INPUT_FEATURES: 128 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.CLASS_NAMES_EACH_HEAD: [['car'], ['truck', 'construction_vehicle'], ['bus', 'trailer'], ['barrier'], ['motorcycle', 'bicycle'], ['pedestrian', 'traffic_cone']] 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SHARED_CONV_CHANNEL: 128 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.KERNEL_SIZE_HEAD: 1 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.USE_BIAS_BEFORE_NORM: True 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.NUM_HM_CONV: 2 2023-08-09 20:08:21,916 INFO ----------- SEPARATE_HEAD_CFG ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel'] 2023-08-09 20:08:21,916 INFO ----------- HEAD_DICT ----------- 2023-08-09 20:08:21,916 INFO ----------- center ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.center.out_channels: 2 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.center.num_conv: 2 2023-08-09 20:08:21,916 INFO ----------- center_z ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.center_z.out_channels: 1 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.center_z.num_conv: 2 2023-08-09 20:08:21,916 INFO ----------- dim ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.dim.out_channels: 3 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.dim.num_conv: 2 2023-08-09 20:08:21,916 INFO ----------- rot ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.rot.out_channels: 2 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.rot.num_conv: 2 2023-08-09 20:08:21,916 INFO ----------- vel ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.vel.out_channels: 2 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.SEPARATE_HEAD_CFG.HEAD_DICT.vel.num_conv: 2 2023-08-09 20:08:21,916 INFO ----------- TARGET_ASSIGNER_CONFIG ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.FEATURE_MAP_STRIDE: 8 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.NUM_MAX_OBJS: 500 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.GAUSSIAN_OVERLAP: 0.1 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.MIN_RADIUS: 2 2023-08-09 20:08:21,916 INFO ----------- LOSS_CONFIG ----------- 2023-08-09 20:08:21,916 INFO ----------- LOSS_WEIGHTS ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.cls_weight: 1.0 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.loc_weight: 0.25 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0] 2023-08-09 20:08:21,916 INFO ----------- POST_PROCESSING ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.SCORE_THRESH: 0.1 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.MAX_OBJ_PER_SAMPLE: 500 2023-08-09 20:08:21,916 INFO ----------- NMS_CONFIG ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.NMS_CONFIG.NMS_TYPE: nms_gpu 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.NMS_CONFIG.NMS_THRESH: 0.2 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.NMS_CONFIG.NMS_PRE_MAXSIZE: 1000 2023-08-09 20:08:21,916 INFO cfg.MODEL.DENSE_HEAD.POST_PROCESSING.NMS_CONFIG.NMS_POST_MAXSIZE: 83 2023-08-09 20:08:21,916 INFO ----------- POST_PROCESSING ----------- 2023-08-09 20:08:21,916 INFO cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.3, 0.5, 0.7] 2023-08-09 20:08:21,916 INFO cfg.MODEL.POST_PROCESSING.EVAL_METRIC: kitti 2023-08-09 20:08:21,916 INFO ----------- OPTIMIZATION ----------- 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.BATCH_SIZE_PER_GPU: 4 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.NUM_EPOCHS: 20 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.OPTIMIZER: adam_onecycle 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.LR: 0.001 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.WEIGHT_DECAY: 0.01 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.MOMENTUM: 0.9 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.MOMS: [0.95, 0.85] 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.PCT_START: 0.4 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.DIV_FACTOR: 10 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.DECAY_STEP_LIST: [35, 45] 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.LR_DECAY: 0.1 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.LR_CLIP: 1e-07 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.LR_WARMUP: False 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.WARMUP_EPOCH: 1 2023-08-09 20:08:21,916 INFO cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10 2023-08-09 20:08:21,917 INFO cfg.TAG: cbgs_voxel0075_voxelnext 2023-08-09 20:08:21,917 INFO cfg.EXP_GROUP_PATH: home/wzy/3Detector/VoxelNeXt/tools/cfgs/nuscenes_models 2023-08-09 20:08:21,917 INFO Loading NuScenes dataset 2023-08-09 20:08:21,917 INFO Total samples for NuScenes dataset: 0 2023-08-09 20:08:25,209 INFO ==> Loading parameters from checkpoint /home/wzy/3Detector/voxelnext_nuscenes_kernel1.pth to GPU 2023-08-09 20:08:25,240 INFO ==> Done (loaded 542/542) 2023-08-09 20:08:25,251 INFO * EPOCH 1 EVALUATION *** eval: 0it [00:00, ?it/s] 2023-08-09 20:08:25,420 INFO * Performance of EPOCH 1 *** Traceback (most recent call last): File "test.py", line 207, in
main()
File "test.py", line 203, in main
eval_single_ckpt(model, test_loader, args, eval_output_dir, logger, epoch_id, dist_test=dist_test)
File "test.py", line 65, in eval_single_ckpt
eval_utils.eval_one_epoch(
File "/home/wzy/3Detector/VoxelNeXt/tools/eval_utils/eval_utils.py", line 94, in eval_one_epoch
sec_per_example = (time.time() - start_time) / len(dataloader.dataset)
ZeroDivisionError: float division by zero