Source code for trainPoint​PillarsObj​ectDetecto​r

I am working on lidar data of my own and I want to use pointpillar object detector and while using the trainPointPillarsObjectDetector function i am encountering some error so i need to make some changes in the source code but i am unable to find it so please guide me regarding the same.

error:

Error using

dlnetwork/initialize Invalid network.

Error in trainPointPillarsObjectDetector (line 210)

dlnet = initialize(dlnet);

Caused by: Layer 'cnn|concatenate': Input size mismatch.

Size of input to this layer is different from the expected input size. Inputs to this layer:

from layer 'cnn|up1|bn' (size 69(S) × 125(S) × 128(C) × 1(B))

from layer 'cnn|up2|bn' (size 70(S) × 126(S) × 128(C) × 1(B))

from layer 'cnn|up3|bn' (size 72(S) × 128(S) × 128(C) × 1(B))

Answer 1

[Karl]

You should be able to find the path to the source code using the which function:

which('trainPointPillarsObjectDetector.m')

On my system, with Lidar Toolbox installed, this returns:

matlabroot/toolbox/lidar/lidar/trainPointPillarsObjectDetector.m