41 lines
2.3 KiB
Markdown
41 lines
2.3 KiB
Markdown
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# Changelog and Guidelines
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### [2022-09-02] Update to v0.6.0:
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* How to process data to support multi-frame training/testing on Waymo Open Dataset?
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* If you never use the OpenPCDet, you can directly follow the [GETTING_STARTED.md](GETTING_STARTED.md)
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* If you have been using previous OpenPCDet (`v0.5`), then you need to follow the following steps to update your data:
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* Update your waymo infos (the `*.pkl` files for each sequence) by adding argument `--update_info_only`:
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```
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python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml --update_info_only
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```
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* Generate multi-frame GT database for copy-paste augmentation of multi-frame training. There is also a faster version with parallel data generation by adding `--use_parallel`, but you need to read the codes and rename the file after getting the results.
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```
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python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_gt_database --cfg_file tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml
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```
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This will generate the new files like the following (the last three lines under `data/waymo`):
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```
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OpenPCDet
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├── data
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│ ├── waymo
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│ │ │── ImageSets
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│ │ │── raw_data
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│ │ │ │── segment-xxxxxxxx.tfrecord
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| | | |── ...
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| | |── waymo_processed_data_v0_5_0
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│ │ │ │── segment-xxxxxxxx/
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| | | |── ...
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│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1/
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│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl
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│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy (optional)
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│ │ │── waymo_processed_data_v0_5_0_infos_train.pkl (optional)
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│ │ │── waymo_processed_data_v0_5_0_infos_val.pkl (optional)
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| | |── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0 (new)
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│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl (new)
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│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.np (new, optional)
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├── pcdet
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├── tools
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```
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