Comments (7)
I will find time to support Waymo dataset recently, and contributions are welcomed to support nuScenes.
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Hey @sshaoshuai thanks for sharing your work! I would like to take a crack at training using the nuScenes dataset. I am planning to use the nuscenes_to_kitti code to rewrite the nuscenes dataset into the KITTI format. Just wanted your feedback on what are the things I will need to refactor. Here are some things I can see I will need to do:
- Export the nuScenes dataset intothe KITTI format uisng export_kitti.py
- Refactor
pcdet\datasets\kitti\kitti_dataset.py
with the correct filenames, etc. - Edit the
.yaml
config file to train new network.
I have a couple of quick questions:
- Given that nuScenes detection classes are different from KITTI, will changing the
.yaml
file be sufficient to retrain, for example, PartA2? - The
ANCHOR_GENERATOR
in PartA2 is defined for each class separately. How did you decide what values work well for each class? For example, for Car we haveanchor_range: [0, -40, -1.78, 70.4, 40, -1.78]
while for Pedestrian we haveanchor_range: [0, -40, -0.6, 70.4, 40, -0.6]
. what do these values mean? Any way to calculate them for the different classes in the nuScenes dataset?
Cheers!
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that sounds very nice to support waymo.
Hoping for your workaround!
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Hi @jinfagang,
There is this repo Waymo_Kitti_Adapter which converts the Waymo dataset into Kitti format. This might be a fast solution for you.
I hope you will find it useful.
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Hi @sshaoshuai
It looks like it is registered in the waymo leaderboard. Is there any update?
https://waymo.com/open/challenges/entry/?challenge=DETECTION_3D&[email protected]×tamp=1590993748503967
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Hi
Also for another dataset, this repo https://github.com/yzhou377/argoverse-kitti-adapter converts the Argoverse dataset into KITTI format. With good results when using P-RCNN. I hope you will find it useful.
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Hi all, the NuScenes dataset has been supported with two strong baselines.
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Related Issues (20)
- Visualizing the results
- Error when running demo.py HOT 2
- About BaseBEVBackbone HOT 2
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- Ensemble or test-time augmentation? HOT 2
- free(): double free detected in tcache 2 HOT 2
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- 'EasyDict' object has no attribute 'BACKUP_DB_INFO' HOT 3
- What should we set the overlap values for custom datasets? HOT 5
- TypeError: expected str, bytes or os.PathLike object, not NoneType HOT 1
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- Question about adam_onecycle optimizer HOT 2
- PV RCNN++ pretained model HOT 1
- [Docs] A100算力加持!书生大模型实战营第3期全面升级,趣味闯关模式等你开启 HOT 1
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