启动docker环境
nvidia-docker run --rm -ti -v /home/$USER/:/home/$USER/ --net=host --rm pointpillar:latest
安装Openpcdet
git clone https://github.com/open-mmlab/OpenPCDet.git
cd OpenPCDet && git checkout 846cf3e && python3 setup.py develop
安装成功
安装CUDA-PointPillars
git clone https://github.com/NVIDIA-AI-IOT/CUDA-PointPillars.git
cd CUDA-PointPillars
转onnx模型
python3 tool/export_onnx.py --ckpt ckpts/checkpoint_epoch_300.pth --out_dir model
报错:
onnx.onnx_cpp2py_export.checker.ValidationError: Nodes in a graph must be topologically sorted, however input '195' of node:
name: ScatterND_55 OpType: ScatterND
is not output of any previous nodes.
onnx.onnx_cpp2py_export.checker.ValidationError: Nodes in a graph must be topologically sorted, however input '195' of node:
name: ScatterND_55 OpType: ScatterND
is not output of any previous nodes.
解决:
这里降低一下onnx-simplifier的版本
pip install onnx-simplifier==0.4.33
继续运行后发现又报错:
onnx.onnx_cpp2py_export.checker.ValidationError: Your model ir_version 10 is higher than the checker's (9).
onnx.onnx_cpp2py_export.checker.ValidationError: Your model ir_version 10 is higher than the checker's (9).
解决:
降低onnx版本
pip install onnx==1.14.1
再次运行
成功