题主您好 可以提供一下google网盘的NYC数据集吗 百度网盘的下载速度实在是太慢了

Thanks for your great work!
I want to apply VMA to my own data and want to know how the images of sd_data are generated? I can only produce single-channel intensity images.

Hello! Thanks for sharing the great work!
I use the python file : tools/custom/generate_line_final_from_origin.py like this:
python tools/custom/generate_line_final_from_origin.py ./data/sd_data/line/origin_data/line_data_6k.json ./data/sd_data/line/origin_data ./data/sd_data/line/cropped_data

it have some error:

process every 6k image to extract the 1k gt: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████| 5/5 [00:01<00:00, 4.90it/s] format dict: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 5/5 [00:00<00:00, 238312.73it/s] Traceback (most recent call last): File "tools/custom/generate_line_final_from_origin.py", line 401, in <module> generate_line_final_from_original(args.all_gt_6k_json_file_path, args.data_root, args.out_dir, args.visualize) File "tools/custom/generate_line_final_from_origin.py", line 39, in generate_line_final_from_original json.dump(train_valid_6k_image_name, f) NameError: name 'train_valid_6k_image_name' is not defined
The related code is as follows：

line38: with open(os.path.join(out_dir, 'train_valid_6k_image_name.json'), 'w') as f:
line39: json.dump(train_valid_6k_image_name, f)

the "train_valid_6k_image_name" is undefined

How can I modify the code here to solve this problem? Thank You!

Z info is used in visualization, but how to get it?

Hello,
sd dataset are making according to lidar pointscould. How to make it (x y z intensity) to given format image(r g b)?
It seems like hsv image, one change is mapping from intensity, and another two channel is fixed？

Awesome work!
I found a mistake the arguments in line 401 of tools/custom/generate_line_final_from_origin.py can't match the arguments in tools/custom/generate.sh.
generate_line_final_from_original(args.all_gt_6k_json_file_path, args.data_root, args.out_dir, args.visualize)
python generate_line_final_from_origin.py data/sd_data/line/origin_data data/sd_data/line/origin_data/line_data_6k.json data/sd_data/line/cropped_data --visualize
It seems the arguments are in wrong order. It would return an error: IsADirectoryError: [Errno 21] Is a directory.

Hello! I use the SD dataset to train the line model, I prepare the dataset preparation command is this:
./tools/dist_train.sh ./projects/configs/vma_res152_e80_line.py 1

the error log is this:
KeyError: Caught KeyError in DataLoader worker process 0

I tried to regenerate the SD line data set according to the method of docs/prepare_dataset.md, but the problem still occurred. How can I troubleshoot the cause of this problem? Thank you!

all error log is this:
2023-09-11 16:55:43,906 - mmdet - INFO - Saving checkpoint at 5 epochs
[ ] 0/7, elapsed: 0s, ETA:Traceback (most recent call last):
File "./tools/train.py", line 261, in
main()
File "./tools/train.py", line 250, in main
custom_train_model(
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/bevformer/apis/train.py", line 27, in custom_train_model
custom_train_detector(
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/bevformer/apis/mmdet_train.py", line 212, in custom_train_detector
runner.run(data_loaders, cfg.workflow)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 127, in run
epoch_runner(data_loaders[i], **kwargs)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 54, in train
self.call_hook('after_train_epoch')
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/mmcv/runner/base_runner.py", line 307, in call_hook
getattr(hook, fn_name)(self)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/mmcv/runner/hooks/evaluation.py", line 267, in after_train_epoch
self._do_evaluate(runner)
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/core/evaluation/eval_hooks.py", line 78, in _do_evaluate
results = custom_multi_gpu_test(
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/bevformer/apis/test.py", line 71, in custom_multi_gpu_test
for i, data in enumerate(data_loader):
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 521, in next
data = self._next_data()
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1203, in _next_data
return self._process_data(data)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1229, in _process_data
data.reraise()
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/_utils.py", line 425, in reraise
raise self.exc_type(msg)
KeyError: Caught KeyError in DataLoader worker process 0.
Original Traceback (most recent call last):
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/utils/data/_utils/worker.py", line 287, in _worker_loop
data = fetcher.fetch(index)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 47, in fetch
return self.collate_fn(data)
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/datasets/builder.py", line 173, in iCurb_collate
data['seq'] = [x[0] for x in batch]
File "/home/pc01/code/VMA/projects/mmdet3d_plugin/datasets/builder.py", line 173, in
data['seq'] = [x[0] for x in batch]
KeyError: 0

ERROR:torch.distributed.elastic.multiprocessing.api:failed (exitcode: 1) local_rank: 0 (pid: 82570) of binary: /home/pc01/anaconda3/envs/vma/bin/python
Traceback (most recent call last):
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/runpy.py", line 194, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/launch.py", line 193, in
main()
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/launch.py", line 189, in main
launch(args)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/launch.py", line 174, in launch
run(args)
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/run.py", line 689, in run
elastic_launch(
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/launcher/api.py", line 116, in call
return launch_agent(self._config, self._entrypoint, list(args))
File "/home/pc01/anaconda3/envs/vma/lib/python3.8/site-packages/torch/distributed/launcher/api.py", line 244, in launch_agent
raise ChildFailedError(
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:

    ./tools/train.py FAILED

=======================================
Root Cause:
[0]:
time: 2023-09-11_16:55:52
rank: 0 (local_rank: 0)
exitcode: 1 (pid: 82570)
error_file: <N/A>
msg: "Process failed with exitcode 1"

Other Failures:
<NO_OTHER_FAILURES>

大兄弟，你知道怎么把一个PCL转换成三通道的RGB图像么，谢谢大兄弟。

Hi, in sd_driviing_line_dataset.py, if instance_class == "lane", the category of curb is 6, but the curb is six-category branch, index=[0, 1, 2, 3, 4, 5], Wouldn't this index out of bounds?

any details or script for transfering the point cloud to BEV images, like which colormap?

First of all, thank you for your work. You have briefly described the commands in the test phase. I have encountered a problem, I do not know which one you use for your configuration file, and I cannot reason.