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TRAILab / CaDDN

Categorical Depth Distribution Network for Monocular 3D Object Detection (CVPR 2021 Oral)

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Training on nuscenes dataset

thom966 opened this issue · comments

commented

Hello CaDDN author, thank you for your great work.

I am trying to train the model using nuscenes dataset. So, I have modified the config yaml file but I received an error
/backbones_3d/ffe/depth_ffe.py", line 51, in forward images = batch_dict["images"] KeyError: 'images'

It seems like the dataloader extracts batch of data for lidar only, not camera front view.

array(['n008-2018-08-28-16-43-51-0400__LIDAR_TOP__1535489298547291.pcd',
       'n015-2018-10-02-10-50-40+0800__LIDAR_TOP__1538448754047572.pcd',
       'n008-2018-08-28-16-43-51-0400__LIDAR_TOP__1535489299547057.pcd',
       'n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402941797653.pcd'],
      dtype='<U62')

Does it need explicit code modification in /CaDDN/tools/train_utils/train_utils.py file to train on nuscenes?

Look forward for any suggestions.
Thank you for your time.

commented

Hello Thom,
may i know how to modify the model config yaml file for nuscenes? i've never done it before. Or where can i get some information about this?
thank you.