Autoware - How to train my own pointpillars model ?
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 : https://pastebin.com/VNMc2EH5
Can you help me reproduce the result with the KITTI dataset first and get ONXX files working ? Thanks a lot !
I think right place to search for this is github issues and if you don't find anything then ask for help there.
hi, Thanks for your share, I also wanna use SmallMunich/nutonomy_pointpillars to train and gain the ONNX file to locate in Autoware, so have you succeeded in doing that?
Hi, @Mackou, Maybe we can have some communication on this issue, which is located model in Autoware trained by ourselves.
Hey @ryontang and sorry for the late reply. I have managed to train my model using the SmallMunich repo. But I have never been able to output the trained model in a format that autoware could accept. I know that a team member rewrote the pointpillar node of autoware from scratch so it could accept this model.
Hi, @Mackou, thanks for your reply. You mean there is a way that need to rewrite the pointpillar node, actually it is a little dificulty for me, all right, keep in touch, if we have made any progress in this problem.
@ryontang We have totally stopped working on this problem. And unfortunately the new node is proprietary so I cannot share it here.
@Mackou, All right, sorry for the late reply, and thanks for your share about the problems you have met !!!
Hi, @Mackou, We have the same error ingormation when load the ONNX file exported by git repo : SmallMunich/nutonomy_pointpillars. I am sorry, could you give me some advice on rewritting pointpillar node of autoware. so it could accept this model.