Here is my step trying to reproduce CTRL，I want to know is there any wrong ？

Here is my step trying to reproduce CTRL，I want to know is there any wrong ？ especially step2，and Is the config file ‘fsd_base_vehicle.yaml’ correct?

1.prepare waymo data(I only use part of waymo dataset) 1.1 use my python script to generate train.txt val.txt test.txt and idx2timestamp.pkl idx2contextname.pkl Then cp train.txt val.txt test.txt to ./data/waymo/kitti_format/ImageSets/ cp idx2timestamp.pkl idx2contextname.pkl to ./data/waymo/kitti_format/ 1.2 python tools/create_data.py --dataset waymo --root-path ./data/waymo/ --out-dir ./data/waymo/ --workers 128 --extra-tag waymo Step 1: Generate train_gt.bin once for all. (waymo bin format). python ./tools/ctrl/generate_train_gt_bin.py generate file 'train_gt.bin' python ./tools/ctrl/extract_poses.py Generate file context2timestamp.pkl and pose.pkl

Step 2: Use ImmortalTracker to generate tracking results in training split (bin file format) modify file ego_info.py and time_stamp.py like this: Modify file waymo_convert_detection.sh like this: then: bash preparedata/waymo/waymo_preparedata.sh ~/dataset/waymo/waymo_format/ generate files like this :

bash preparedata/waymo/waymo_convert_detection.sh ~/dataset/waymo/waymo_format/train_gt.bin CTRL_FSD_TTA Generate files like this: In data/waymo/training/detection/CTRL_FSD_TTA/dets: Modify file run_mot.sh like this:

Then: bash run_mot.sh generate file like this: Step 3: Generate track input for training modify file ‘fsd_base_vehicle.yaml’ like this: pred.bin was generated in step 2. python ./tools/ctrl/generate_track_input.py ./tools/ctrl/data_configs/fsd_base_vehicle.yaml --process 1 generate files like this:

Step 4: Assign candidates GT tracks python ./tools/ctrl/generate_candidates.py ./tools/ctrl/data_configs/fsd_base_vehicle.yaml --process 1

Step 5: Begin training bash tools/dist_train.sh configs/ctrl/ctrl_veh_24e.py 1 --no-validate

Originally posted by @20210726 in https://github.com/tusen-ai/SST/issues/132#issuecomment-1688148061