UnboundLocalError: local variable 'mv_height' referenced before assignment

[Jane-QinJ]

Hello, thank u for your awesome job! When I try to use the pv_rcnn_focal_lidar.yaml to train, there was an error occured:
UnboundLocalError: local variable 'mv_height' referenced before assignment

the full error is:

Traceback (most recent call last): | 0/464 [00:00<?, ?it/s]
File "train.py", line 201, in
main()
File "train.py", line 153, in main
train_model(
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/train_utils/train_utils.py", line 111, in train_model
accumulated_iter = train_one_epoch(
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/train_utils/train_utils.py", line 25, in train_one_epoch
batch = next(dataloader_iter)
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 363, in next
data = self._next_data()
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 989, in _next_data
return self._process_data(data)
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1014, in _process_data
data.reraise()
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/_utils.py", line 395, in reraise
raise self.exc_type(msg)
UnboundLocalError: Caught UnboundLocalError in DataLoader worker process 0.
Original Traceback (most recent call last):
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/_utils/worker.py", line 185, in _worker_loop
data = fetcher.fetch(index)
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 44, in fetch
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/home/qinjia/Software/anaconda3/envs/FocalConv/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 44, in
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/../pcdet/datasets/kitti/kitti_dataset.py", line 425, in getitem
data_dict = self.prepare_data(data_dict=input_dict)
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/../pcdet/datasets/dataset.py", line 130, in prepare_data
data_dict = self.data_augmentor.forward(
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/../pcdet/datasets/augmentor/data_augmentor.py", line 243, in forward
data_dict = cur_augmentor(data_dict=data_dict)
File "/data1/qinjia/FocalsConv/OpenPCDet/tools/../pcdet/datasets/augmentor/database_sampler.py", line 403, in call
mv_height = mv_height[valid_mask]
UnboundLocalError: local variable 'mv_height' referenced before assignment

and I set the USE_ROAD_PLANE : FALSE in pv_rcnn_focal_lidar.yaml , because my custom dataset don't have the road plane data, but then I try to use KITTI data, the same error still occured.

I try to google this error, it seems like that this vraiable is not defined before the reference.
I try to check out the mv_height in /FocalsConv/OpenPCDet/tools/../pcdet/datasets/augmentor/database_sampler.py. line 403, in call:
mv_height = mv_height[valid_mask]

But I don't understand what wrong with this, if u can help me, I'd be very appreciated! Thanks!

[yukang2017]

Thanks for your interests in our work.

I have updated pcdet/datasets/augmentor/database_sampler.py. Would you please try it again? Thanks.

FocalsConv/OpenPCDet/pcdet/datasets/augmentor/database_sampler.py

Line 404 in c382ec9

if self.sampler_cfg.get('USE_ROAD_PLANE', False):

[Jane-QinJ]

Thanks for your interests in our work.

I have updated pcdet/datasets/augmentor/database_sampler.py. Would you please try it again? Thanks.

FocalsConv/OpenPCDet/pcdet/datasets/augmentor/database_sampler.py

Line 404 in c382ec9

if self.sampler_cfg.get('USE_ROAD_PLANE', False):

Thank u very much! It works!

[yukang2017]

Please feel free to contact me if any other questions exist.