CADDN demo run problem

[ghost]

I am getting this error File "/media/safa/nvme/pycharmProjects/OpenPCDet/pcdet/datasets/processor/data_processor.py", line 195, in downsample_depth_map image=data_dict['depth_maps'], KeyError: 'depth_maps'

When I run

python demo.py --cfg_file cfgs/kitti_models/CaDDN.yaml --ckpt caddn_pcdet.pth --data_path ../data/kitti/training/velodyne/000008.bin

I have downloaded depth_2 folder near calib and image_2 folder in train dataset.

What am I doing wrong?

Regards

Safa

[MartinHahner]

Have you generated the .pkl files as described here before after you downloaded the depth maps?

Maybe you need to re-generate them if you downloaded the depth maps afterwards. Otherwise, perhaps @codyreading can help.

[ghost]

Thank you @MartinHahner for the reply. Stating pkl file generation, I guess you mean running this command below:

python -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml I had done before I downloaded. I did after I downloaded, per your advice. Still I am getting the same error.

Traceback (most recent call last):
  File "demo.py", line 113, in <module>
    main()
  File "demo.py", line 95, in main
    for idx, data_dict in enumerate(demo_dataset):
  File "demo.py", line 60, in __getitem__
    data_dict = self.prepare_data(data_dict=input_dict)
  File "/media/safa/nvme/pycharmProjects/OpenPCDet/pcdet/datasets/dataset.py", line 148, in prepare_data
    data_dict = self.data_processor.forward(
  File "/media/safa/nvme/pycharmProjects/OpenPCDet/pcdet/datasets/processor/data_processor.py", line 213, in forward
    data_dict = cur_processor(data_dict=data_dict)
  File "/media/safa/nvme/pycharmProjects/OpenPCDet/pcdet/datasets/processor/data_processor.py", line 195, in downsample_depth_map
    image=data_dict['depth_maps'],
KeyError: 'depth_maps'

I am open to other suggestions as well.

Regards

[creading7]

Hi @safaATcurrus,

I never updated the demo script to work for CaDDN. The issue is that the DemoDataset object doesn't load the depth maps and images, so you will need to manually add those similar to the kitti_dataset.py. Checkout here and here for how to load the images and depth maps respectively.

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[Mi97ch]

Hi, do someone have the updated Demo code to solve this issue?