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About point_to_voxel in waymo #30

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hlh2001 opened this issue Apr 12, 2024 · 0 comments
Open

About point_to_voxel in waymo #30

hlh2001 opened this issue Apr 12, 2024 · 0 comments

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@hlh2001
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hlh2001 commented Apr 12, 2024

As the parameter in official config “waymo_tracking_dataset.yaml”
NUM_POINT_FEATURES: 5
used_feature_list: ['x', 'y', 'z', 'intensity', 'elongation'],
src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation'],

the points features dim(1) is 5 in voxel_output = self._voxel_generator.point_to_voxel(tv.from_numpy(points)), which is 4 in kitti.
however it runs
voxel_output = self._voxel_generator.point_to_voxel(tv.from_numpy(points))
RuntimeError: /io/build/temp.linux-x86_64-cpython-39/spconv/build/core_cc/src/csrc/sparse/all/ops_cpu3d/Point2VoxelCPU/Point2VoxelCPU_point_to_voxel_static.cc(22)
num_features == voxels.dim(2) assert faild. your points num features doesn't equal to voxel.
which does not appear in kitti.
It should be ok whether the point feature dim(1) is 4 or 5.
So is this because some parameters in config should be changed or others and what should I do.
Thanks for your answer.

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