Here is my step trying to reproduce CTRL，I want to know is there any wrong ？
#161 opened on 2023/09/21
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説明
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