您好，我在执行 cmake .. 时，产生以下错误

Building tests
-- 

-- BUILD SUMMARY
--   CMAKE_GENERATOR      : Unix Makefiles
--   Compiler ID          : GNU
--   Build type           : Release
--   Build shared libs    : ON
--   Use double for kernel: OFF

--   Build tests          : ON
-- 

-- Configuring done
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
NVINFER
    linked by target "pointpillars" in directory /home/cavata/project/OpenPCDet/PointPillars_MultiHead_40FPS/pointpillars
    linked by target "test_model" in directory /home/cavata/project/OpenPCDet/PointPillars_MultiHead_40FPS/test

-- Generating done
CMake Generate step failed.  Build files cannot be regenerated correctly.

请问您是否有相应的解决方案，十分感谢！

Our own dataset has been trained on openpcdet and I got the engine files. But I have trouble to understand the structure of this work. I will appreciate you if you could write a tutorial about how to run this work on our own dataset and then we could continue our research and cite your work on pointpillars. Thanks for your useful work!

[==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from PointPillars [ RUN ] PointPillars.build_model ./models/custom_data_multihead_backbone.trt unknown file: Failure C++ exception with description "bad file: ./pointpillars/cfgs/pointpillar_sanyi_multi.yaml" thrown in the test body. [ FAILED ] PointPillars.build_model (1 ms) [----------] 1 test from PointPillars (1 ms total)

[----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] PointPillars.build_model

1 FAILED TEST

hi, thanks for nice work. I got some error when I run onnx2trt cbgs_pp_multihead_backbone.onnx -o cbgs_pp_multihead_backbone.trt -b 1 -d 16

(base) ➜  default git:(main) onnx2trt cbgs_pp_multihead_backbone.onnx -o cbgs_pp_multihead_backbone.trt -b 1 -d 16
----------------------------------------------------------------
Input filename:   cbgs_pp_multihead_backbone.onnx
ONNX IR version:  0.0.6
Opset version:    10
Producer name:    pytorch
Producer version: 1.7
Domain:
Model version:    0
Doc string:
----------------------------------------------------------------
terminate called after throwing an instance of 'std::runtime_error'
  what():  Failed to create object
[1]    19112 abort (core dumped)  onnx2trt cbgs_pp_multihead_backbone.onnx -o cbgs_pp_multihead_backbone.trt -b 1 -d

my onnx2trt version

(base) ➜  default git:(main) onnx2trt -V                                                                     
Parser built against:
  ONNX IR version:  0.0.6
  TensorRT version: 7.1.3

and I found some issue about this. But I'm not found solution. any suggestion about this? Crash when model with cast #406 run onnx2trt ERROR FAILED_ALLOCATION: std::bad_alloc #549

the lidar coordinate system of nuscenes is different from that of kitti. If my point cloud coordinate system changes, does the pre-processing code need to be modified ?

I also used openPCdet for training, because the number of categories changed, I modified some parameters of post-processing, but the output of the model was all wrong boxes. May I ask what needs to be modified in the pre-processed code?

I also encounter some problems when try to utilize this project on my own datasets.The format of my datasets is the way Openpcdet needs and I have transfered it to kitti format.It is trained well on 3 categories(car,pedestrain,cyclist) just with little changes on "cfgs/kitti_models/pointpillar.yaml".But when I try to apply my own datasets with cbgs_pp_multihead.yaml then something goes wrong.I think the problem is the different between nuscences and kitti and the change of the number of categories. Can you give me some hint of how to change cbgs_pp_multihead.yaml to train my datasets（3 categories）.Thanks!

在cmake时候报错

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
NVINFER

RPN_HEAD_CFGS: [ { 'HEAD_CLS_NAME': [ 'vehicle' ], }, { 'HEAD_CLS_NAME': [ 'car' ], }, { 'HEAD_CLS_NAME': [ 'pedestrian'], }, { 'HEAD_CLS_NAME': [ 'cyclist' ], }, ]

Module Time

Preprocess 0.440277 ms Pfe 13.8402 ms Scatter 0.11535 ms Backbone 348.759 ms Postprocess 40.2281 ms Summary 403.392 ms

num_objects----------------------------

compiled under cuda-11, tensorrt 8.2

$ ./test/test_model
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from PointPillars
[ RUN      ] PointPillars.__build_model__
../model/cbgs_pp_multihead_backbone.trt
 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣>
 | ../model/cbgs_pp_multihead_pfe.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿>
             (\__/) ||
             (•ㅅ•) ||
             / 　 づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.0
WARNING: TensorRT was linked against cuDNN 8.2.1 but loaded cuDNN 8.0.3
 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣>
 | ../model/cbgs_pp_multihead_backbone.trt >
 |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿>
             (\__/) ||
             (•ㅅ•) ||
             / 　 づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.0
WARNING: TensorRT was linked against cuDNN 8.2.1 but loaded cuDNN 8.0.3
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.0
WARNING: TensorRT was linked against cuDNN 8.2.1 but loaded cuDNN 8.0.3
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.0
WARNING: TensorRT was linked against cuDNN 8.2.1 but loaded cuDNN 8.0.3
ERROR: 1: [genericReformat.cu::executeMemcpy::1334] Error Code 1: Cuda Runtime (invalid argument)
GPUassert: an illegal memory access was encountered /home/work/pointpillars_multihead_40fps/pointpillars/pointpillars.cc 420

我的模型是用kitti训练的，我将kitti配置文件改成muiltihead了，点云维度是4维，改了前处理和后处理部分参数，将num_gather_feature = 11改成10，kNumPointFeature = 5改成了4，类别是两种类别， dev_pfe_gather_feature_把第五行删掉了，最终预测结果全是错的或者为空。是点云维度原因吗？

[==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from PointPillars [ RUN ] PointPillars.build_model ../model/robo_rpn/kitti_rpn_multihead_backbone.trt |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> | ../model/robo_rpn/kitti_rpn_multihead_pfe.trt > |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> (_/) ||
(•ㅅ•) ||
/ 　 づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1 |￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣￣> | ../model/robo_rpn/kitti_rpn_multihead_backbone.trt > |＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿＿> (_/) ||
(•ㅅ•) ||
/ 　 づ
WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1 WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1 WARNING: TensorRT was linked against cuBLAS/cuBLAS LT 11.6.1 but loaded cuBLAS/cuBLAS LT 11.2.1 4 true1true------------------------------------ Module Time

Preprocess 0.328729 ms Pfe 1.92755 ms Scatter 0.27791 ms Backbone 3.28076 ms Postprocess 1.63506 ms Summary 7.45741 ms

4 true1true------------------------------------ Module Time

Preprocess 0.326377 ms Pfe 1.91881 ms Scatter 0.03204 ms Backbone 3.17447 ms Postprocess 1.62952 ms Summary 7.08602 ms

4 true1true------------------------------------ Module Time

Preprocess 0.343313 ms Pfe 1.92314 ms Scatter 0.91915 ms Backbone 3.18731 ms Postprocess 1.60187 ms Summary 7.98153 ms

4 true1true------------------------------------ Module Time

Preprocess 0.328076 ms Pfe 1.91939 ms Scatter 0.032131 ms Backbone 3.17698 ms Postprocess 1.65143 ms Summary 7.11405 ms

4 true1true------------------------------------ Module Time

Preprocess 0.321695 ms Pfe 1.91993 ms Scatter 0.274737 ms Backbone 3.17974 ms Postprocess 1.6171 ms Summary 7.31876 ms

4 true1true------------------------------------ Module Time

Preprocess 0.31875 ms Pfe 1.9192 ms Scatter 0.031389 ms Backbone 3.1751 ms Postprocess 1.58972 ms Summary 7.03859 ms

4 true1true------------------------------------ Module Time

Preprocess 0.325528 ms Pfe 1.92111 ms Scatter 0.262098 ms Backbone 3.17563 ms Postprocess 1.6107 ms Summary 7.30026 ms

4 true1true------------------------------------ Module Time

Preprocess 0.329693 ms Pfe 1.91792 ms Scatter 0.030285 ms Backbone 3.17318 ms Postprocess 1.67297 ms Summary 7.1286 ms

4 true1true------------------------------------ Module Time

Preprocess 0.319577 ms Pfe 1.92314 ms Scatter 0.276512 ms Backbone 3.17424 ms Postprocess 1.60376 ms Summary 7.30224 ms

4 true1true------------------------------------ Module Time

Preprocess 0.321262 ms Pfe 1.91856 ms Scatter 0.031172 ms Backbone 3.16954 ms Postprocess 1.62139 ms Summary 7.06617 ms

[ OK ] PointPillars.build_model (1574 ms) [----------] 1 test from PointPillars (1574 ms total)

[----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1574 ms total) [ PASSED ] 1 test.

Hi I have the same configuration as mentioned but I am getting the following error which running the test suite.

ERROR: ../rtSafe/coreReadArchive.cpp (38) - Serialization Error in verifyHeader: 0 (Version tag does not match) ERROR: INVALID_STATE: std::exception ERROR: INVALID_CONFIG: Deserialize the cuda engine failed. ERROR: failed to build engine parser Segmentation fault (core dumped)

Hi, there is an error occurred when I do cmake Error is as shown below.

============================================================================================ Building tests

-- BUILD SUMMARY -- CMAKE_GENERATOR : Unix Makefiles -- Compiler ID : GNU -- Build type : Release -- Build shared libs : ON -- Use double for kernel: OFF -- Build tests : ON

-- Configuring done CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: NVINFER linked by target "pointpillars" in directory /home/civeh/workspace/PointPillars_MultiHead_40FPS/pointpillars linked by target "test_model" in directory /home/civeh/workspace/PointPillars_MultiHead_40FPS/test NVONNXPARSERS linked by target "pointpillars" in directory /home/civeh/workspace/PointPillars_MultiHead_40FPS/pointpillars linked by target "test_model" in directory /home/civeh/workspace/PointPillars_MultiHead_40FPS/test

-- Generating done CMake Generate step failed. Build files cannot be regenerated correctly.

Please help

I used the provided onnx and run it in xavier in MAXN mode. Running onnx model, takes about 130ms. Running trt model, takes about 130ms. I'm sure it had used GPU.

这个速度 正常吗？

Thank you for your great source code.. When I run the example more than one time, I received very random results. Can you explain the reason and give me some ideas to fix this bug?