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# Changelog and Guidelines
### [2022-09-02] Update to v0.6.0:
* How to process data to support multi-frame training/testing on Waymo Open Dataset?
* If you never use the OpenPCDet, you can directly follow the [GETTING_STARTED.md](GETTING_STARTED.md)
* If you have been using previous OpenPCDet (`v0.5`), then you need to follow the following steps to update your data:
* Update your waymo infos (the `*.pkl` files for each sequence) by adding argument `--update_info_only`:
```
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml --update_info_only
```
* 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.
```
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_gt_database --cfg_file tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml
```
This will generate the new files like the following (the last three lines under `data/waymo`):
```
OpenPCDet
├── data
│ ├── waymo
│ │ │── ImageSets
│ │ │── raw_data
│ │ │ │── segment-xxxxxxxx.tfrecord
| | | |── ...
| | |── waymo_processed_data_v0_5_0
│ │ │ │── segment-xxxxxxxx/
| | | |── ...
│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1/
│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl
│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy (optional)
│ │ │── waymo_processed_data_v0_5_0_infos_train.pkl (optional)
│ │ │── waymo_processed_data_v0_5_0_infos_val.pkl (optional)
| | |── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0 (new)
│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl (new)
│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.np (new, optional)
├── pcdet
├── tools
```