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Commit 9d28ad44 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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add train/val splits of WOD, update README

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README.md
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...@@ -18,8 +18,8 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18 ...@@ -18,8 +18,8 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18
## Changelog ## Changelog
[2020-11-10] **NEW:** The Waymo Open Dataset has been supported with SoTA results. By now we provid the [2020-11-10] **NEW:** The [Waymo Open Dataset](#waymo-open-dataset-baselines) has been supported with state-of-the-art results. Currently we provide the
configs of `SECOND`, `PartA2` and `PV-RCNN` on the Waymo Open Dataset, and more models could be easily supported by modifying their dataset configs. configs and results of `SECOND`, `PartA2` and `PV-RCNN` on the Waymo Open Dataset, and more models could be easily supported by modifying their dataset configs.
[2020-08-10] Bugfixed: The provided NuScenes models have been updated to fix the loading bugs. Please redownload it if you need to use the pretrained NuScenes models. [2020-08-10] Bugfixed: The provided NuScenes models have been updated to fix the loading bugs. Please redownload it if you need to use the pretrained NuScenes models.
...@@ -112,7 +112,7 @@ All models are trained with 8 GTX 1080Ti GPUs and are available for download. ...@@ -112,7 +112,7 @@ All models are trained with 8 GTX 1080Ti GPUs and are available for download.
We provide the setting of `DATA_CONFIG.SAMPLED_INTERVAL` on the Waymo Open Dataset (WOD) to subsample partial samples for training and evaluation, We provide the setting of `DATA_CONFIG.SAMPLED_INTERVAL` on the Waymo Open Dataset (WOD) to subsample partial samples for training and evaluation,
so you could also play with WOD by setting a smaller `DATA_CONFIG.SAMPLED_INTERVAL` if you only have limited GPU resources. so you could also play with WOD by setting a smaller `DATA_CONFIG.SAMPLED_INTERVAL` if you only have limited GPU resources.
By default, all models are trained with **20% data (~32k frames)** of all the training samples, and the results of each cell here are mAP/mAPH calculated by the official Waymo evaluation metrics on the **whole** validation set. By default, all models are trained with **20% data (~32k frames)** of all the training samples on 8 GTX 1080Ti GPUs, and the results of each cell here are mAP/mAPH calculated by the official Waymo evaluation metrics on the **whole** validation set.
| | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 | | | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 |
|---------------------------------------------|----------:|:-------:|:-------:|:-------:|:-------:|:-------:| |---------------------------------------------|----------:|:-------:|:-------:|:-------:|:-------:|:-------:|
...@@ -120,6 +120,8 @@ By default, all models are trained with **20% data (~32k frames)** of all the tr ...@@ -120,6 +120,8 @@ By default, all models are trained with **20% data (~32k frames)** of all the tr
| [PartA2](tools/cfgs/waymo_models/PartA2.yaml) | 71.82/71.29 | 64.33/63.82 | 63.15/54.96 | 54.24/47.11 | 65.23/63.92 | 62.61/61.35 | | [PartA2](tools/cfgs/waymo_models/PartA2.yaml) | 71.82/71.29 | 64.33/63.82 | 63.15/54.96 | 54.24/47.11 | 65.23/63.92 | 62.61/61.35 |
| [PV-RCNN](tools/cfgs/waymo_models/pv_rcnn.yaml) | 74.06/73.38 | 64.99/64.38 | 62.66/52.68 | 53.80/45.14 | 63.32/61.71 | 60.72/59.18 | | [PV-RCNN](tools/cfgs/waymo_models/pv_rcnn.yaml) | 74.06/73.38 | 64.99/64.38 | 62.66/52.68 | 53.80/45.14 | 63.32/61.71 | 60.72/59.18 |
We could not provide the above pretrained models due to [Waymo Dataset License Agreement](https://waymo.com/open/terms/),
but you could easily achieve similar performance by training with the default configs.
...@@ -158,9 +160,9 @@ If you find this project useful in your research, please consider cite: ...@@ -158,9 +160,9 @@ If you find this project useful in your research, please consider cite:
``` ```
@misc{openpcdet2020, @misc{openpcdet2020,
title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Cloud}, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
author={OpenPCDet Development Team}, author={OpenPCDet Development Team},
howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}} howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}},
year={2020} year={2020}
} }
``` ```
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docs/GETTING_STARTED.md
View file @ 9d28ad44
...@@ -61,20 +61,18 @@ python -m pcdet.datasets.nuscenes.nuscenes_dataset --func create_nuscenes_infos ...@@ -61,20 +61,18 @@ python -m pcdet.datasets.nuscenes.nuscenes_dataset --func create_nuscenes_infos
* Please download the official [Waymo Open Dataset](https://waymo.com/open/download/), * Please download the official [Waymo Open Dataset](https://waymo.com/open/download/),
including the training data `training_0000.tar~training_0031.tar` and the validation including the training data `training_0000.tar~training_0031.tar` and the validation
data `validation_0000.tar~validation_0007.tar`. data `validation_0000.tar~validation_0007.tar`.
* Unzip all the above `xxxx.tar` files to the directory of `data/waymo/raw_data_v1_2` as follows (You could get 798 *train* tfrecord and 202 *val* tfrecord ): * Unzip all the above `xxxx.tar` files to the directory of `data/waymo/raw_data` as follows (You could get 798 *train* tfrecord and 202 *val* tfrecord ):
``` ```
OpenPCDet OpenPCDet
├── data ├── data
│ ├── waymo │ ├── waymo
│ │ │── ImageSets │ │ │── ImageSets
│ │ │── raw_data_v1_2 │ │ │── raw_data
│ │ │ │── segment-xxxxxxxx.tfrecord │ │ │ │── segment-xxxxxxxx.tfrecord
| | | |── ... | | | |── ...
| | | |── segment-xxxxxxxx.tfrecord
| | |── waymo_processed_data | | |── waymo_processed_data
│ │ │ │── segment-xxxxxxxx/ │ │ │ │── segment-xxxxxxxx/
| | | |── ... | | | |── ...
| | | |── segment-xxxxxxxx/
│ │ │── pcdet_gt_database_train_sampled_xx/ │ │ │── pcdet_gt_database_train_sampled_xx/
│ │ │── pcdet_waymo_dbinfos_train_sampled_xx.pkl │ │ │── pcdet_waymo_dbinfos_train_sampled_xx.pkl
├── pcdet ├── pcdet
...@@ -87,13 +85,12 @@ pip3 install --upgrade pip ...@@ -87,13 +85,12 @@ pip3 install --upgrade pip
pip3 install waymo-open-dataset-tf-2-1-0==1.2.0 --user pip3 install waymo-open-dataset-tf-2-1-0==1.2.0 --user
# tf 2.0.0 # tf 2.0.0
# pip3 install waymo-open-dataset-tf-2-0-0==1.2.0 --user # pip3 install waymo-open-dataset-tf-2-0-0==1.2.0 --user
# tf 1.15.0
# pip3 install waymo-open-dataset-tf-1-15-0==1.2.0 --user
``` ```
* Generate the data infos by running the following command (it takes several hours): * Generate the data infos by running the following command (it takes several hours):
```python ```python
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos \ -
-cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml
``` ```
Note that you do not need to install `waymo-open-dataset` if you have already processed the data before and do not need to evaluate with official Waymo Metrics. Note that you do not need to install `waymo-open-dataset` if you have already processed the data before and do not need to evaluate with official Waymo Metrics.
......
pcdet/datasets/waymo/waymo_dataset.py
View file @ 9d28ad44
...@@ -365,6 +365,6 @@ if __name__ == '__main__': ...@@ -365,6 +365,6 @@ if __name__ == '__main__':
class_names=['Vehicle', 'Pedestrian', 'Cyclist'], class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
data_path=ROOT_DIR / 'data' / 'waymo', data_path=ROOT_DIR / 'data' / 'waymo',
save_path=ROOT_DIR / 'data' / 'waymo', save_path=ROOT_DIR / 'data' / 'waymo',
raw_data_tag='raw_data_v1_2', raw_data_tag='raw_data',
processed_data_tag=dataset_cfg.PROCESSED_DATA_TAG processed_data_tag=dataset_cfg.PROCESSED_DATA_TAG
) )
tools/cfgs/waymo_models/PartA2.yaml
View file @ 9d28ad44
...@@ -170,7 +170,7 @@ MODEL: ...@@ -170,7 +170,7 @@ MODEL:
OPTIMIZATION: OPTIMIZATION:
BATCH_SIZE_PER_GPU: 3 BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 80 NUM_EPOCHS: 80
OPTIMIZER: adam_onecycle OPTIMIZER: adam_onecycle
......
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