kitti数据集格式mutihead检测结果错误
elegentbamboo opened this issue · comments
我的模型是用kitti训练的，我将kitti配置文件改成muiltihead了，点云维度是4维，改了前处理和后处理部分参数，将num_gather_feature = 11改成10，kNumPointFeature = 5改成了4，类别是两种类别， dev_pfe_gather_feature_把第五行删掉了，最终预测结果全是错的或者为空。是点云维度原因吗？
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from PointPillars
[ RUN ] PointPillars.build_model
../model/robo_rpn/kitti_rpn_multihead_backbone.trt
|￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣>
| ../model/robo_rpn/kitti_rpn_multihead_pfe.trt >
|＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿>
(_/) ||
(•ㅅ•) ||
/ づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1
|￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣>
| ../model/robo_rpn/kitti_rpn_multihead_backbone.trt >
|＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿>
(_/) ||
(•ㅅ•) ||
/ づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1
4
true1true------------------------------------
Module Time
Preprocess 0.328729 ms
Pfe 1.92755 ms
Scatter 0.27791 ms
Backbone 3.28076 ms
Postprocess 1.63506 ms
Summary 7.45741 ms
4
true1true------------------------------------
Module Time
Preprocess 0.326377 ms
Pfe 1.91881 ms
Scatter 0.03204 ms
Backbone 3.17447 ms
Postprocess 1.62952 ms
Summary 7.08602 ms
4
true1true------------------------------------
Module Time
Preprocess 0.343313 ms
Pfe 1.92314 ms
Scatter 0.91915 ms
Backbone 3.18731 ms
Postprocess 1.60187 ms
Summary 7.98153 ms
4
true1true------------------------------------
Module Time
Preprocess 0.328076 ms
Pfe 1.91939 ms
Scatter 0.032131 ms
Backbone 3.17698 ms
Postprocess 1.65143 ms
Summary 7.11405 ms
4
true1true------------------------------------
Module Time
Preprocess 0.321695 ms
Pfe 1.91993 ms
Scatter 0.274737 ms
Backbone 3.17974 ms
Postprocess 1.6171 ms
Summary 7.31876 ms
4
true1true------------------------------------
Module Time
Preprocess 0.31875 ms
Pfe 1.9192 ms
Scatter 0.031389 ms
Backbone 3.1751 ms
Postprocess 1.58972 ms
Summary 7.03859 ms
4
true1true------------------------------------
Module Time
Preprocess 0.325528 ms
Pfe 1.92111 ms
Scatter 0.262098 ms
Backbone 3.17563 ms
Postprocess 1.6107 ms
Summary 7.30026 ms
4
true1true------------------------------------
Module Time
Preprocess 0.329693 ms
Pfe 1.91792 ms
Scatter 0.030285 ms
Backbone 3.17318 ms
Postprocess 1.67297 ms
Summary 7.1286 ms
4
true1true------------------------------------
Module Time
Preprocess 0.319577 ms
Pfe 1.92314 ms
Scatter 0.276512 ms
Backbone 3.17424 ms
Postprocess 1.60376 ms
Summary 7.30224 ms
4
true1true------------------------------------
Module Time
Preprocess 0.321262 ms
Pfe 1.91856 ms
Scatter 0.031172 ms
Backbone 3.16954 ms
Postprocess 1.62139 ms
Summary 7.06617 ms
[ OK ] PointPillars.build_model (1574 ms)
[----------] 1 test from PointPillars (1574 ms total)
[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (1574 ms total)
[ PASSED ] 1 test.
问题已经解决了，点云range问题