目录
2.2报错:LoweringError: Failed in nopython mode pipeline (step: nopython mode backend)
一、环境:pytorch1.2
二、下载源码:
#下载源码
git clone https://github.com/open-mmlab/OpenPCDet.git
#环境配置
cd OpenPCDet
python setup.py develop
pip install -r requirements.txt
三、准备KITTI数据集
2017网址:The KITTI Vision Benchmark Suite
1、下载这几个(非常巨大)
2、下载完之后按照下面的目录排排好
四、跑代码
1、对数据进行一波处理:
python -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml
2、开跑
cd tools
python train.py --cfg_file=cfgs/kitti_models/pointpillar.yaml --batch_size=3 --epochs=100
2.1报错:KeyError: 'road_plane'
解决:对./tools/cfgs/kitti_models/pointpillar.yaml这个文件
将第27行USE_ROAD_PLANE: True改为USE_ROAD_PLANE: False
再次运行就ok了
2.2报错:LoweringError: Failed in nopython mode pipeline (step: nopython mode backend)
解决:numba版本不对,更换为0.51.0
3、完成
结果存储在
./output/kitti_models/pointpillar/default/eval/eval_with_train/epoch_100/val/result.pkl
./output/kitti_models/pointpillar/default/ckpt/checkpoint_epoch_100.pth