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Autoware - How to train my own pointpillars model ?

asked 2019-11-21 03:26:00 -0600

Mackou gravatar image

Hello everyone.

  • Autoware version : 1.13.0-alpha.1-8-gbebcb65
  • ROS Version Melodic
  • Autoware installed from source

I am trying to use pointpillars with autoware and I would like to train my own model, because I would like to train a more complete model with other datasets.

First of all it's very hard to find anything on how to train this model, and to make it compatible with autoware. I used this git repo : SmallMunich/nutonomy_pointpillarsto train the dataset and convert it to the ONNX file format but it doesn't work. Here is the pointpillars log :

Can you help me reproduce the result with the KITTI dataset first and get ONXX files working ? Thanks a lot !

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I think right place to search for this is github issues and if you don't find anything then ask for help there.

Choco93 gravatar imageChoco93 ( 2019-11-21 05:18:02 -0600 )edit

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answered 2019-12-11 03:45:31 -0600

ssfs gravatar image

updated 2019-12-11 05:30:10 -0600

Hi @kosuke_murakami , I am trying to train your repo bu there are some problems. When train using configs/pointpillars/car/xyres_16.config file, code falling the assertion, your comments;

assert 10 == len(ret_dict), f"something wrong with training output size!"

How can I fix this issues, or could you provide proper config file?

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answered 2019-11-25 04:03:52 -0600

kosuke_murakami gravatar image

I used this repo. But it is not well maintained. Hope this will help.

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@kosuke_murakami Thanks for your answer ! How did you convert the model to ONNX ?

Mackou gravatar imageMackou ( 2019-11-28 02:54:46 -0600 )edit

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Asked: 2019-11-21 03:26:00 -0600

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Last updated: Dec 11 '19