NVIDIA-AI-IOT / CUDA-PointPillars

A project demonstrating how to use CUDA-PointPillars to deal with cloud points data from lidar.

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The size of tensor a (12160) must match the size of tensor b (199680) at non-singleton dimension 1

KyleYueye opened this issue · comments

I've met a problem, have you ever dealt with it?

Traceback (most recent call last): | 0/3400 [00:00<?, ?it/s]
File "network.py", line 116, in
train_model(
File "/home/yueye/code/3D-MAN/tools/train_utils/train_utils.py", line 84, in train_model
accumulated_iter = train_one_epoch(
File "/home/yueye/code/3D-MAN/tools/train_utils/train_utils.py", line 36, in train_one_epoch
loss, tb_dict, disp_dict = model_func(model, batch)
File "/home/yueye/code/3D-MAN/pcdet/models/init.py", line 42, in model_func
ret_dict, tb_dict, disp_dict = model(batch_dict)
File "/home/yueye/anaconda3/envs/3dman/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/home/yueye/code/3D-MAN/pcdet/models/detectors/pointpillar.py", line 14, in forward
loss, tb_dict, disp_dict = self.get_training_loss()
File "/home/yueye/code/3D-MAN/pcdet/models/detectors/pointpillar.py", line 27, in get_training_loss
loss_rpn, tb_dict = self.dense_head.get_loss()
File "/home/yueye/code/3D-MAN/pcdet/models/dense_heads/anchor_head_template.py", line 217, in get_loss
cls_loss, tb_dict = self.get_cls_layer_loss()
File "/home/yueye/code/3D-MAN/pcdet/models/dense_heads/anchor_head_template.py", line 128, in get_cls_layer_loss
cls_loss_src = self.cls_loss_func(cls_preds, one_hot_targets, weights=cls_weights) # [N, M]
File "/home/yueye/anaconda3/envs/3dman/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/home/yueye/code/3D-MAN/pcdet/utils/loss_utils.py", line 59, in forward
pt = target * (1.0 - pred_sigmoid) + (1.0 - target) * pred_sigmoid
RuntimeError: The size of tensor a (12160) must match the size of tensor b (199680) at non-singleton dimension 1