mmdetection3d
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Can't visualize some data with MVX-Net model
Issue: can't visualize some data with MVX-Net model
It can show about 10 data among 20 data, but it suddenly fail for the remaining data.
Command used
python tools/misc/visualize_results.py configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py \
--result data/kitti/results_mvxnet.pkl --show-dir data/kitti/show_results_mvxnet/
Error message
Qt: Session management error: Could not open network socket
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
[Open3D WARNING] invalid color in PaintUniformColor, clipping to [0, 1]
Traceback (most recent call last):
File "tools/misc/visualize_results.py", line 49, in <module>
main()
File "tools/misc/visualize_results.py", line 39, in main
dataset.show(results, args.show_dir, pipeline=eval_pipeline)
File "/home/s/dev/mmdetection3d/mmdet3d/datasets/kitti_dataset.py", line 745, in show
show=show)
File "/home/s/dev/mmdetection3d/mmdet3d/core/visualizer/show_result.py", line 276, in show_multi_modality_result
color=pred_bbox_color)
File "/home/s/dev/mmdetection3d/mmdet3d/core/visualizer/image_vis.py", line 106, in draw_lidar_bbox3d_on_img
corners_3d = bboxes3d.corners
File "/home/s/dev/mmdetection3d/mmdet3d/core/bbox/structures/lidar_box3d.py", line 74, in corners
assert len(self.tensor) != 0
AssertionError
More information (added Feb 8 2022)
Sensor setup
- 360-degree lidar
- Single RGB camera
Example of the 360-lidar annotations in KITTI format
Car 0.00 0 -1.37 0 0 0 0 1.60 1.88 5.28 -6.45 1.16 1.28 -0.04 <-- Outside of FoV Car 0.00 1 0.26 1048.20 561.57 1593.11 767.63 2.10 3.26 5.73 3.42 1.88 12.82 -0.24 Car 0.00 0 0.65 0 0 0 0 1.87 1.81 5.31 4.48 1.57 5.91 -0.04 <-- Not fusioned
The bug should be fixed in #1209, besides, what's the branch you are using?
I am using your latest version of develop branch.
There is something that I should provide before. The custom KITTI dataset includes annotations that is outside of FoV.
More information
Sensor setup
- 360-degree lidar
- Single RGB camera
Example of the 360-lidar annotations in KITTI format
Car 0.00 0 -1.37 0 0 0 0 1.60 1.88 5.28 -6.45 1.16 1.28 -0.04 <-- Outside of FoV Car 0.00 1 0.26 1048.20 561.57 1593.11 767.63 2.10 3.26 5.73 3.42 1.88 12.82 -0.24 Car 0.00 0 0.65 0 0 0 0 1.87 1.81 5.31 4.48 1.57 5.91 -0.04 <-- Not fusioned
Sorry for the late reply. Do you still have the same bug after #1209 is merged?
What I can remember is I was using your latest version of develop branch at that time (Feb 2).