[Bug] bevfusion multi_modality_demo.py运行报错

[limllzu]

Prerequisite

• I have searched Issues and Discussions but cannot get the expected help.
• I have read the FAQ documentation but cannot get the expected help.
• The bug has not been fixed in the latest version (dev-1.x) or latest version (dev-1.0).

Task

I'm using the official example scripts/configs for the officially supported tasks/models/datasets.

Branch

main branch https://github.com/open-mmlab/mmdetection3d

Environment

使用官方文档提供的方法进行安装mmdetection3d
然后使用python projects/BEVFusion/setup.py develop安装bevfusion

Reproduces the problem - code sample

Copyright (c) OpenMMLab. All rights reserved.

from argparse import ArgumentParser

import mmcv

from mmdet3d.apis import inference_multi_modality_detector, init_model
from mmdet3d.registry import VISUALIZERS

def parse_args():
parser = ArgumentParser()
parser.add_argument('pcd', help='Point cloud file')
parser.add_argument('img', help='image file')
parser.add_argument('ann', help='ann file')
parser.add_argument('config', help='Config file')
parser.add_argument('checkpoint', help='Checkpoint file')
parser.add_argument(
'--device', default='cuda:0', help='Device used for inference')
parser.add_argument(
'--cam-type',
type=str,
default='CAM_FRONT',
help='choose camera type to inference')
parser.add_argument(
'--score-thr', type=float, default=0.0, help='bbox score threshold')
parser.add_argument(
'--out-dir', type=str, default='demo', help='dir to save results')
parser.add_argument(
'--show',
action='store_true',
help='show online visualization results')
parser.add_argument(
'--snapshot',
action='store_true',
help='whether to save online visualization results')
args = parser.parse_args()
return args

def main(args):
# build the model from a config file and a checkpoint file
model = init_model(args.config, args.checkpoint, device=args.device)

# init visualizer
visualizer = VISUALIZERS.build(model.cfg.visualizer)
visualizer.dataset_meta = model.dataset_meta

# test a single image and point cloud sample
result, data = inference_multi_modality_detector(model, args.pcd, args.img,
                                                 args.ann, args.cam_type)
points = data['inputs']['points']
if isinstance(result.img_path, list):
    img = []
    for img_path in result.img_path:
        single_img = mmcv.imread(img_path)
        single_img = mmcv.imconvert(single_img, 'bgr', 'rgb')
        img.append(single_img)
else:
    img = mmcv.imread(result.img_path)
    img = mmcv.imconvert(img, 'bgr', 'rgb')
data_input = dict(points=points, img=img)

# show the results
visualizer.add_datasample(
    'result',
    data_input,
    data_sample=result,
    draw_gt=False,
    show=args.show,
    wait_time=-1,
    out_file=args.out_dir,
    pred_score_thr=args.score_thr,
    vis_task='multi-modality_det')

if name == 'main':
args = parse_args()
main(args)

Reproduces the problem - command or script

python projects/BEVFusion/demo/multi_modality_demo.py demo/data/nuscenes/n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402927647951.pcd.bin demo/data/nuscenes/ demo/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl projects/BEVFusion/configs/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py projects/BEVFusion/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d-5239b1af.pth --cam-type all --score-thr 0.2 --show

Reproduces the problem - error message

Traceback (most recent call last):
File "/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/site-packages/mmengine/utils/misc.py", line 77, in import_modules_from_strings
imported_tmp = import_module(imp)
File "/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/importlib/init.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 1014, in _gcd_import
File "", line 991, in _find_and_load
File "", line 975, in _find_and_load_unlocked
File "", line 671, in _load_unlocked
File "", line 843, in exec_module
File "", line 219, in _call_with_frames_removed
File "/data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/init.py", line 1, in
from .bevfusion import BEVFusion
File "/data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/bevfusion.py", line 16, in
from .ops import Voxelization
File "/data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/ops/init.py", line 1, in
from .bev_pool import bev_pool
File "/data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/ops/bev_pool/init.py", line 1, in
from .bev_pool import bev_pool
File "/data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/ops/bev_pool/bev_pool.py", line 3, in
from . import bev_pool_ext
ImportError: /data/liml24Files/project/mmdetection3d/projects/BEVFusion/bevfusion/ops/bev_pool/bev_pool_ext.cpython-38-x86_64-linux-gnu.so: failed to map segment from shared object

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/site-packages/mmengine/config/config.py", line 466, in fromfile
import_modules_from_strings(**cfg_dict['custom_imports'])
File "/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/site-packages/mmengine/utils/misc.py", line 84, in import_modules_from_strings
raise ImportError(f'Failed to import {imp}')
ImportError: Failed to import projects.BEVFusion.bevfusion

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "projects/BEVFusion/demo/multi_modality_demo.py", line 78, in
main(args)
File "projects/BEVFusion/demo/multi_modality_demo.py", line 42, in main
model = init_model(args.config, args.checkpoint, device=args.device)
File "/data/liml24Files/project/mmdetection3d/mmdet3d/apis/inference.py", line 59, in init_model
config = Config.fromfile(config)
File "/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/site-packages/mmengine/config/config.py", line 478, in fromfile
raise ImportError(err_msg) from e
ImportError: Failed to import custom modules from {'imports': ['projects.BEVFusion.bevfusion'], 'allow_failed_imports': False}, the current sys.path is:
/data/liml24Files/project/mmdetection3d/projects/BEVFusion/demo
/home/liml24/anaconda3/envs/bevfusion/lib/python38.zip
/home/liml24/anaconda3/envs/bevfusion/lib/python3.8
/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/lib-dynload
/home/liml24/anaconda3/envs/bevfusion/lib/python3.8/site-packages
/data/liml24Files/project/mmdetection3d
/tmp/tmpyh4xlyfx
You should set PYTHONPATH to make sys.path include the directory which contains your custom module

Additional information

预期结果：成功运行