config file for camera + lidar

[jadhavan]

Hello VectorMapNet team,

I'm trying to train this model with camera + lidar (fusion) and facing some issues. I modified the config file to:

input_modality = dict(
    use_lidar=True,
    use_camera=True,
    use_radar=False,
    use_map=False,
    use_external=False)

and added use_lidar=True inside model/backbone in config. After the following changes, I got this error:

  File "vector_map_net/plugin/models/mapers/base_mapper.py", line 91, in forward
    return self.forward_train(*args, **kwargs)
  File "vector_map_net/plugin/models/mapers/vectormapnet.py", line 109, in forward_train
    _bev_feats = self.backbone(img, img_metas=img_metas, points=points)
  File "/home/ubuntu/venv_lane_line_gt/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1051, in _call_impl
    return forward_call(*input, **kwargs)
  File "vector_map_net/plugin/models/backbones/ipm_backbone.py", line 230, in forward
    lidar_feat = self.get_lidar_feature(points)
  File "vector_map_net/plugin/models/backbones/ipm_backbone.py", line 286, in get_lidar_feature
    ptensor, pmask = points
TypeError: cannot unpack non-iterable NoneType object

Looks like points is None, Can you help in fixing this issue.

[longzuyan]

@jadhavan Have you solved this problem? Now I facing same problem. if you solved, could you tell me how to solve it.
thank you.

[dynamic721]

@longzuyan Have you solved this problem?