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KeyError when doing "2.Prepared nuScenes 3D detection data" with create_data.py #14
Description
Environment
docker container, with image
sudo nvidia-docker run -it -p 7600:7600 -p 8022:22 --name="occnet" -v /home/apan/occnet_ws:/home/occnet_ws -it pytorch/pytorch:1.10.0-cuda11.3-cudnn8-devel /bin/bash, python==3.7
Problem
when doing step '2.Prepared nuScenes 3D detection data' with create_data.py, there would be a KeyError:
v1.0-trainval ./data/nuscenes
======
Loading NuScenes tables for version v1.0-trainval...
23 category,
8 attribute,
4 visibility,
64386 instance,
12 sensor,
10200 calibrated_sensor,
2631083 ego_pose,
68 log,
850 scene,
34149 sample,
2631083 sample_data,
1166187 sample_annotation,
4 map,
Done loading in 27.901 seconds.
======
Reverse indexing ...
Done reverse indexing in 6.5 seconds.
======
total scene num: 850
exist scene num: 850
train scene: 700, val scene: 150
[ ] 0/34149, elapsed: 0s, ETA:Traceback (most recent call last):
File "tools/create_data.py", line 249, in <module>
max_sweeps=args.max_sweeps)
File "tools/create_data.py", line 75, in nuscenes_data_prep
root_path, out_dir, can_bus_root_path, info_prefix, version=version, max_sweeps=max_sweeps)
File "/home/occnet_ws/OccNet/tools/data_converter/nuscenes_converter.py", line 93, in create_nuscenes_infos
nusc, nusc_can_bus, train_scenes, val_scenes, test, max_sweeps=max_sweeps)
File "/home/occnet_ws/OccNet/tools/data_converter/nuscenes_converter.py", line 237, in _fill_trainval_infos
l2e_r = info['lidar2ego_rotation']
KeyError: 'lidar2ego_rotation'
I shift the console to path /home/occnet_ws/OccNet,while the file organized as follow:
home/occnet_ws/OccNet/data# tree -L 2
|-- can_bus
| |-- basemap
| |-- expansion
| `-- prediction
|-- nuscenes
| |-- maps
| |-- readme.md
| |-- samples
| |-- sweeps
| |-- v1.0-test
| `-- v1.0-trainval
`-- occ_gt_release_v1_0
|-- nuscenes_infos_temporal_train_occ_gt.pkl
|-- nuscenes_infos_temporal_val_occ_gt.pkl
|-- occ_gt_train.json
|-- occ_gt_val.json
|-- train
`-- val
then I found 'lidar2ego_rotation' in nuscene_converter.py line 237, there is no declaration about this key:
# started from line 215
info = {
'lidar_path': lidar_path,
'token': sample['token'],
'prev': sample['prev'],
'next': sample['next'],
'can_bus': can_bus,
'frame_idx': frame_idx, # temporal related info
'sweeps': [],
'cams': dict(),
'scene_token': sample['scene_token'], # temporal related info
'scene_name': scene_name,
'lidar2ego_translation': cs_record['translation'],
'ego2global_rotation': pose_record['rotation'],
'timestamp': sample['timestamp'],
}
if sample['next'] == '':
frame_idx = 0
else:
frame_idx += 1
l2e_r = info['lidar2ego_rotation']
l2e_t = info['lidar2ego_translation']
e2g_r = info['ego2global_rotation']
e2g_t = info['ego2global_translation']
l2e_r_mat = Quaternion(l2e_r).rotation_matrix
e2g_r_mat = Quaternion(e2g_r).rotation_matrix
...
`
`
Activity
aksjdakwhdijahskjdhkajbsf commentedon Oct 14, 2023
Me too. Check it please!
tongwwt commentedon Oct 14, 2023
Thanks for your comment. The variable info should be defined as