OpenPcdet训练遇到问题ERROR: FG=0, BG=0

我在训练中陆陆续续遇到此问题，有时训练一两轮就报错，有时一轮训练不完报错

ERROR: FG=0, BG=0

    return forward_call(*input, **kwargs)
  File "../pcdet/models/roi_heads/pvrcnn_head.py", line 146, in forward
    targets_dict = self.assign_targets(batch_dict)
  File "../pcdet/models/roi_heads/roi_head_template.py", line 107, in assign_targets
    targets_dict = self.proposal_target_layer.forward(batch_dict)
  File "../pcdet/models/roi_heads/target_assigner/proposal_target_layer.py", line 33, in forward
    batch_dict=batch_dict
  File "../pcdet/models/roi_heads/target_assigner/proposal_target_layer.py", line 107, in sample_rois_for_rcnn
    sampled_inds = self.subsample_rois(max_overlaps=max_overlaps)
  File "../pcdet/models/roi_heads/target_assigner/proposal_target_layer.py", line 159, in subsample_rois
    raise NotImplementedError
NotImplementedError
 

暂时解决办法：学习率降低为十分之一，batch size降低

最好的解决办法：换更好地gpu