alexanderswerdlow / bevgen Goto Github PK

Hi,

In your paper, you said "We sample 4 images from each scene, with 600 instances overall" for Nuscenes. However, there are only 500 tokens in data/interesting_image_tokens.txt and most of them come from sweeps rather than keyframes. Could you please provide more details about how to perform the evaluation on the Nuscenes?

Thanks.

Thank you for your public work! Your work has greatly inspired our research. However, when running 'python generate.py ***', it displayed the following error:

ValueError: Caught ValueError in DataLoader worker process 0.
Original Traceback (most recent call last):
File "/home/a40/.conda/envs/DL_bev/lib/python3.9/site-packages/torch/utils/data/_utils/worker.py", line 302, in _worker_loop
data = fetcher.fetch(index)
File "/home/a40/.conda/envs/DL_bev/lib/python3.9/site-packages/torch/utils/data/_utils/fetch.py", line 58, in fetch
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/home/a40/.conda/envs/DL_bev/lib/python3.9/site-packages/torch/utils/data/_utils/fetch.py", line 58, in
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/home/a40/SSD1/BEVGen/multi_view_generation/bev_utils/argoverse.py", line 46, in getitem
raise ValueError()
ValueError

The sequence of errors we encountered is as follows:
1、On line 549 of "BEVGen/multi_view_generation/bev_utils/argoverse_multi_sensor_dataloader.py," with target_timestamp_ns='NaT', this leads to the execution of "return None" on line 552 (missing 'ring_front_center').

# Grab the synchronization record.
target_timestamp_ns = src_to_target_records.loc[src_timedelta_ns, target_sensor_name]
if pd.isna(target_timestamp_ns):
# No match was found within tolerance.
	return None

2、In "BEVGen/multi_view_generation/bev_utils/argoverse.py" on line 246, there is an issue with the conditions: len(data.synchronized_imagery) == 2 but len(self.cameras) == 3. This ultimately leads to an error.

if len(data.synchronized_imagery) != len(self.cameras):
	raise ValueError()

Have you encountered such issues before? Is it a problem arising during the dataset processing? I'm looking forward to receiving your reply.

Hi,

I am wondering how to visualize the bev map in this codebase. It seems that the script of ./multi_view_generation/bev_utils/visualize.py cannot work well.

Thanks in advance.

Thanks for your work!
As it's mentioned throughout the README, we can run "python multi_view_generation/scripts/argoverse_preprocess_all_cam.py" to prepare train data, but I couldn't find the file named " argoverse_preprocess_all_cam.py " in the repository itself, are you planning on releasing the training code?
Looking forward to it!

Hi, @alexanderswerdlow!

Thanks for your work!

As it's mentioned throughout the README, but I couldn't find it in the repository itself, - are you planning on releasing the training code?

Looking forward to it!

according to README, when run the inference "python generate.py xxxxxx", it shows the error as follows,
File "/home/BEVGen/multi_view_generation/modules/transformer/mask_generator.py", line 90, in get_image_direction_vectors
data = torch.load(f'pretrained/cam_data_{cfg.dataset_name}.pt')
File "/opt/conda/envs/bev/lib/python3.10/site-packages/torch/serialization.py", line 699, in load
with _open_file_like(f, 'rb') as opened_file:
File "/opt/conda/envs/bev/lib/python3.10/site-packages/torch/serialization.py", line 230, in _open_file_like
return _open_file(name_or_buffer, mode)
File "/opt/conda/envs/bev/lib/python3.10/site-packages/torch/serialization.py", line 211, in init
super(_open_file, self).init(open(name, mode))
FileNotFoundError: [Errno 2] No such file or directory: 'pretrained/cam_data_argoverse.pt'

it needs model 'pretrained/cam_data_argoverse.pt' ? where to find it?