{"id":23269056,"url":"https://github.com/johnwlambert/argoverse-centerpoint-simplified","last_synced_at":"2025-06-17T08:04:23.227Z","repository":{"id":67269446,"uuid":"320332455","full_name":"johnwlambert/argoverse-centerpoint-simplified","owner":"johnwlambert","description":"Inference with pre-trained CenterPoint models on the Argoverse dataset","archived":false,"fork":false,"pushed_at":"2021-01-16T00:58:41.000Z","size":237,"stargazers_count":12,"open_issues_count":1,"forks_count":4,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-05-15T22:18:43.381Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/johnwlambert.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2020-12-10T16:45:09.000Z","updated_at":"2022-11-30T11:25:46.000Z","dependencies_parsed_at":null,"dependency_job_id":"f9602b4b-7144-4ed5-9df2-20f665eaeee7","html_url":"https://github.com/johnwlambert/argoverse-centerpoint-simplified","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/johnwlambert/argoverse-centerpoint-simplified","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/johnwlambert%2Fargoverse-centerpoint-simplified","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/johnwlambert%2Fargoverse-centerpoint-simplified/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/johnwlambert%2Fargoverse-centerpoint-simplified/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/johnwlambert%2Fargoverse-centerpoint-simplified/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/johnwlambert","download_url":"https://codeload.github.com/johnwlambert/argoverse-centerpoint-simplified/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/johnwlambert%2Fargoverse-centerpoint-simplified/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260318647,"owners_count":22991116,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-12-19T17:45:31.718Z","updated_at":"2025-06-17T08:04:23.203Z","avatar_url":"https://github.com/johnwlambert.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CenterPoint for Argoverse Data\n\nThis repository is a simplified version of the [original CenterPoint repo](https://github.com/tianweiy/CenterPoint), with far less code, designed purely for inference (not for training).\n\n## Installation\n\nEnvironment:\n- Python 3.8.3\n\n**Dependencies**\n- SparseConv (build locally)\n- DCN (build locally), produce deform_conv_cuda.cpython-38-x86_64-linux-gnu.so\n- Iou3dNMS (build locally), produce iou3d_nms_cuda.cpython-38-x86_64-linux-gnu.so\n- Pytorch 1.7.1 (check with `python -c \"import torch; print(torch.__version__)\"`)\n- argoverse-api\n- CUDA 11.0 (check with `python -c \"import torch; print(torch.version.cuda)\"`)\n\nIf you wish to run `viz_aggregated_sweeps.py`, you must run:\nMayavi Environment: https://github.com/mne-tools/mne-python/blob/master/environment.yml\n\n## Bug Fixed addressed\n\nhttps://github.com/pytorch/pytorch/issues/29642\n\nuse torch::RegisterOperators\n\nNot a problem if you use latest Pytorch?\n\n\nnvcc fatal   : Unknown option '-Wall'\nhttps://github.com/traveller59/spconv/issues/69\nCUDACXX=/usr/local/cuda/bin/nvcc python setup.py bdist_wheel\npip install * --force-reinstall\n\n\nhttps://pytorch.org/get-started/previous-versions/\n\n\n- RuntimeError: /nethome/jlambert30/spconv/src/spconv/indice.cu 274\ncuda execution failed with error 98 invalid device function\nprepareSubMGridKernel failed\nhttps://github.com/traveller59/spconv/issues/34\nMake sure you use the same CUDA version for all installations (set CUDA_HOME before building anything)\n\n## Deformable Convolution \n\nAdded here:\nhttps://github.com/pytorch/vision/pull/1586/files\n\n## nuScenes Coordinate System\n\nThe nuScenes egovehicle coordinate frame is situated on the ground underneath the center of rear axle. Consider the pose of the LiDAR sensor in the egovehicle frame:\n```python\negovehicle_SE3_lidar.translation\narray([0.94, 0.      , 1.84 ])\n```\nThis means the LiDAR is on the center of the car, 1.84 meters above the ground. It is also almost one meter forward (+x) from the rear axle.\n\nWhat about the relative orientation between the frames?\n```python\nRotation.from_matrix(egovehicle_SE3_lidar.rotation).as_euler('zyx', degrees=True)\narray([-89.9,   1.4,   0.3])\n```\nWe see that the LiDAR frame is basically rotated -90 degrees from the egovehicle frame\n\n```python\nnp.round(egovehicle_SE3_lidar.transform_point_cloud(np.eye(3)),2)\narray([[ 0.95, -1.  ,  1.83],\n       [ 1.94,  0.  ,  1.82],\n       [ 0.97, -0.01,  2.84]])\n```\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://www.nuscenes.org/public/images/data.png\" height=\"400\"\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/16724970/102704589-60dcde00-424b-11eb-8997-aff36f705404.jpg\" height=\"400\"\u003e\n\u003c/p\u003e\n\n## Another Option for DCN:\nPytorch deformable conv: https://pytorch.org/docs/stable/_modules/torchvision/ops/deform_conv.html#deform_conv2d\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjohnwlambert%2Fargoverse-centerpoint-simplified","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjohnwlambert%2Fargoverse-centerpoint-simplified","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjohnwlambert%2Fargoverse-centerpoint-simplified/lists"}