erro: scores, dt_box_lidar, types, pred_dict = proc_1.run(np_p, frame)

.gitignore

@@ -13,5 +13,6 @@ venv/
 *.pkl
 *.zip
 *.bin
+*.pcd
 output
 version.py

README.md

@@ -1,3 +1,22 @@
+This repo is modified by Kin, check the commit to see the modification.
+
+
+
+Tutorials:
+
+- **ROS Inference**: [https://github.com/Kin-Zhang/OpenPCDet_ros](https://github.com/Kin-Zhang/OpenPCDet_ros)
+
+- Chinese Video: [https://www.bilibili.com/video/BV1xe4y1j72q](https://www.bilibili.com/video/BV1xe4y1j72q)
+
+- Chiese Blog: [【点云检测】OpenPCDet 教程系列 安装 与 ROS运行](https://www.cnblogs.com/kin-zhang/p/17002980.html))
+
+
+
+---
+<details>
+  <summary>[Please check the official repo or below origin read for more detail]</summary>
+
+
 <img src="docs/open_mmlab.png" align="right" width="30%">
 
 # OpenPCDet
@@ -264,3 +283,5 @@ If you find this project useful in your research, please consider cite:
 Welcome to be a member of the OpenPCDet development team by contributing to this repo, and feel free to contact us for any potential contributions. 
 
 
+
+</details>

docker/Dockerfile

@@ -1,55 +1,31 @@
-FROM nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
-
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-
-# Install basics
-RUN apt-get update -y \
-    && apt-get install build-essential \
-    && apt-get install -y apt-utils git curl ca-certificates bzip2 tree htop wget \
-    && apt-get install -y libglib2.0-0 libsm6 libxext6 libxrender-dev bmon iotop g++ python3.7 python3.7-dev python3.7-distutils
-
-# Install cmake v3.13.2
-RUN apt-get purge -y cmake && \
-    mkdir /root/temp && \
-    cd /root/temp && \
-    wget https://github.com/Kitware/CMake/releases/download/v3.13.2/cmake-3.13.2.tar.gz && \
-    tar -xzvf cmake-3.13.2.tar.gz && \
-    cd cmake-3.13.2 && \
-    bash ./bootstrap && \
-    make && \
-    make install && \
-    cmake --version && \
-    rm -rf /root/temp
-
-# Install python
-RUN ln -sv /usr/bin/python3.7 /usr/bin/python
-RUN wget https://bootstrap.pypa.io/get-pip.py && \
-	python get-pip.py && \
-	rm get-pip.py
-
-# Install python packages
-RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
-    $PIP_INSTALL numpy==1.19.3 llvmlite numba 
-
-# Install torch and torchvision
-# See https://pytorch.org/ for other options if you use a different version of CUDA
-RUN pip install --user torch==1.6 torchvision==0.7.0 -f https://download.pytorch.org/whl/cu102/torch_stable.html
-
-# Install python packages
-RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
-    $PIP_INSTALL tensorboardX easydict pyyaml scikit-image tqdm SharedArray six
-
-WORKDIR /root
-
-# Install Boost geometry
-RUN wget https://jaist.dl.sourceforge.net/project/boost/boost/1.68.0/boost_1_68_0.tar.gz && \
-    tar xzvf boost_1_68_0.tar.gz && \
-    cp -r ./boost_1_68_0/boost /usr/include && \
-    rm -rf ./boost_1_68_0 && \
-    rm -rf ./boost_1_68_0.tar.gz 
-
-# A weired problem that hasn't been solved yet
-RUN pip uninstall -y SharedArray && \
-    pip install SharedArray
-
-RUN pip install spconv-cu102
+FROM nvidia/cuda:11.3.0-devel-ubuntu20.04
+LABEL maintainer="Kin Zhang https://kin-zhang.github.io/"
+# Just in case we need it
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt update && apt install -y --no-install-recommends git curl wget git zsh tmux vim g++
+# needs to be done before we can apply the patches
+RUN git config --global user.email "kin_eng@163.com"
+RUN git config --global user.name "kin-docker"
+
+# install zsh
+RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.2/zsh-in-docker.sh)" -- \
+    -t robbyrussell \
+    -p git \
+    -p ssh-agent \
+    -p https://github.com/agkozak/zsh-z \
+    -p https://github.com/zsh-users/zsh-autosuggestions \
+    -p https://github.com/zsh-users/zsh-completions \
+    -p https://github.com/zsh-users/zsh-syntax-highlighting
+
+# =========> INSTALL OpenPCDet <=============
+RUN apt update && apt install -y python3-pip
+RUN pip3 install torch==1.10.0+cu113 torchvision==0.11.0+cu113 torchaudio==0.10.0 -f https://download.pytorch.org/whl/torch_stable.html
+RUN pip3 install spconv-cu113
+RUN apt update && apt install -y python3-setuptools
+RUN mkdir -p /home/kin/workspace
+WORKDIR /home/kin/workspace
+RUN git clone https://github.com/Kin-Zhang/OpenPCDet.git
+RUN cd OpenPCDet && pip3 install -r requirements.txt
+RUN pip3 install pyquaternion numpy==1.23 pillow==8.4 mayavi open3d
+# RUN cd OpenPCDet && python3 setup.py develop # need run inside the container!!!

pcdet/config.py

@@ -49,8 +49,11 @@ def cfg_from_list(cfg_list, config):
 
 
 def merge_new_config(config, new_config):
+    # fix maybe?
+    import os
+    openpcdet_path = os.path.abspath(os.path.join(os.path.dirname( __file__ ), '..'))
     if '_BASE_CONFIG_' in new_config:
-        with open(new_config['_BASE_CONFIG_'], 'r') as f:
+        with open(os.path.join(openpcdet_path, 'tools', new_config['_BASE_CONFIG_']), 'r') as f:
             try:
                 yaml_config = yaml.safe_load(f, Loader=yaml.FullLoader)
             except:

requirements.txt

@@ -9,5 +9,3 @@ scikit-image
 tqdm
 torchvision
 SharedArray
-json
-cv2

tools/cfgs/dataset_configs/kitti_dataset.yaml

@@ -1,7 +1,7 @@
 DATASET: 'KittiDataset'
 DATA_PATH: '../data/kitti'
 
-POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
+POINT_CLOUD_RANGE: [-50, -50, -3, 70.4, 40, 1]
 
 DATA_SPLIT: {
     'train': train,

tools/demo.py

@@ -44,10 +44,14 @@ def __len__(self):
         return len(self.sample_file_list)
 
     def __getitem__(self, index):
-        if self.ext == '.bin':
+        file_postfix = self.sample_file_list[index].as_posix().split(".")[-1]
+        if file_postfix == 'bin':
             points = np.fromfile(self.sample_file_list[index], dtype=np.float32).reshape(-1, 4)
-        elif self.ext == '.npy':
+        elif file_postfix == 'npy':
             points = np.load(self.sample_file_list[index])
+        elif file_postfix == 'pcd':
+            print("\033[93mPlease run the pcd2bin file first!\033[0m Check the file in this folder, \n\ror click here: https://github.com/Kin-Zhang/OpenPCDet/blob/master/tools/pcd2bin.py \n\r")
+            raise NotImplementedError
         else:
             raise NotImplementedError
 

tools/pcd2bin.py

@@ -0,0 +1,127 @@
+#
+# Module:       pcd2bin.py
+# Description:  .pcd to .bin converter
+#
+# Author:       Yuseung Na (ys.na0220@gmail.com) origin link: https://github.com/Yuseung-Na/pcd2bin
+# Version:      1.0
+# Date:         January 19, 2021
+#
+# Author:       Kin ZHANG  (https://kin-zhang.github.io/)
+# Version:      2.0
+# Date:         2023-01-04
+
+# Please run following to install the package: (TESTED on py37 py38), check issue: https://github.com/Yuseung-Na/pcd2bin/issues/8
+# pip uninstall pypcd
+# pip install --upgrade git+https://github.com/klintan/pypcd.git
+
+# How to use:
+# python3 pcd2bin.py --pcd_path /home/kin/test/data --bin_path /home/kin/test/data/bin
+
+import numpy as np
+import os
+import argparse
+from pypcd import pypcd
+import csv
+from tqdm import tqdm
+
+def main():
+    ## Add parser
+    parser = argparse.ArgumentParser(description="Convert .pcd to .bin")
+    parser.add_argument(
+        "--pcd_path",
+        help=".pcd file path.",
+        type=str,
+        default="/home/kin/test/data"
+    )
+    parser.add_argument(
+        "--bin_path",
+        help=".bin file path.",
+        type=str,
+        default="/home/kin/test/data"
+    )
+    parser.add_argument(
+        "--file_name",
+        help="File name.",
+        type=str,
+        default="file_name"
+    )
+    args = parser.parse_args()
+
+    ## Find all pcd files
+    pcd_files = []
+    for (path, dir, files) in os.walk(args.pcd_path):
+        for filename in files:
+            # print(filename)
+            ext = os.path.splitext(filename)[-1]
+            if ext == '.pcd':
+                pcd_files.append(path + "/" + filename)
+
+    ## Sort pcd files by file name
+    pcd_files.sort()   
+    print("Finish to load point clouds!")
+
+    ## Make bin_path directory
+    try:
+        if not (os.path.isdir(args.bin_path)):
+            os.makedirs(os.path.join(args.bin_path))
+    except OSError as e:
+        if e.errno != errno.EEXIST:
+            print ("Failed to create directory!!!!!")
+            raise
+
+    ## Generate csv meta file
+    csv_file_path = os.path.join(args.bin_path, "meta.csv")
+    csv_file = open(csv_file_path, "w")
+    meta_file = csv.writer(
+        csv_file, delimiter=",", quotechar="|", quoting=csv.QUOTE_MINIMAL
+    )
+    ## Write csv meta file header
+    meta_file.writerow(
+        [
+            "pcd file name",
+            "bin file name",
+        ]
+    )
+    print("Finish to generate csv meta file")
+
+    ## Converting Process
+    print("Converting Start!")
+    seq = 0
+    for pcd_file in tqdm(pcd_files):
+        ## Get pcd file
+        pc = pypcd.PointCloud.from_path(pcd_file)
+
+        pcd_file_name = pcd_file.split("/")[-1].split(".")[0]
+        ## Generate bin file name
+        bin_file_name = "{}.bin".format(pcd_file_name)
+        bin_file_path = os.path.join(args.bin_path, bin_file_name)
+
+        ## Get data from pcd (x, y, z, intensity, ring, time)
+        np_x = (np.array(pc.pc_data['x'], dtype=np.float32)).astype(np.float32)
+        np_y = (np.array(pc.pc_data['y'], dtype=np.float32)).astype(np.float32)
+        np_z = (np.array(pc.pc_data['z'], dtype=np.float32)).astype(np.float32)
+        np_i = np.zeros_like(np_x)
+        if 'intensity' in pc.fields:
+            np_i = (np.array(pc.pc_data['intensity'], dtype=np.float32)).astype(np.float32)/256
+        elif 'Intensity' in pc.fields:
+            np_i = (np.array(pc.pc_data['Intensity'], dtype=np.float32)).astype(np.float32)/256
+        else:
+            print(f"The pt fields: {pc.fields}. Please check whether there is an intensity field and add to codes")
+        # np_r = (np.array(pc.pc_data['ring'], dtype=np.float32)).astype(np.float32)
+        # np_t = (np.array(pc.pc_data['time'], dtype=np.float32)).astype(np.float32)
+
+        ## Stack all data    
+        points_32 = np.transpose(np.vstack((np_x, np_y, np_z, np_i)))
+
+        ## Save bin file                                    
+        points_32.tofile(bin_file_path)
+
+        ## Write csv meta file
+        meta_file.writerow(
+            [os.path.split(pcd_file)[-1], bin_file_name]
+        )
+
+        seq = seq + 1
+
+if __name__ == "__main__":
+    main()