How can I perform 3D tracking in your code？

[Jiawen-huang]

I follow your introduction in waymo.md:

I have run 3D detection: python -m tools.dist_test /home/jiawen/CenterPoint/configs/waymo/pp/waymo_centerpoint_pp_two_pfn_stride1_3x.py --work_dir /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x --checkpoint /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/epoch_36.pth

I got the file in work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x : det3d detection_pred.bin epoch_36.pth prediction.pkl

How can I perform 3D tracking in your code？ I run: python -m tools.waymo_tracking.test --work_dir /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x --checkpoint /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/epoch_36.pth --info_path work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/prediction.pkl

but I get bug: Deploy OK Traceback (most recent call last): File "/home/daiyaxuan/anaconda3/envs/centerpoint/lib/python3.6/runpy.py", line 193, in _run_module_as_main "main", mod_spec) File "/home/daiyaxuan/anaconda3/envs/centerpoint/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/home/daiyaxuan/jiawen/CenterPoint/tools/waymo_tracking/test.py", line 263, in main() File "/home/daiyaxuan/jiawen/CenterPoint/tools/waymo_tracking/test.py", line 90, in main infos = reorganize_info(infos) File "/home/daiyaxuan/jiawen/CenterPoint/tools/waymo_tracking/test.py", line 68, in reorganize_info token = info['token'] TypeError: string indices must be integers

[tianweiy]

--checkpoint /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/epoch_36.pth --info_path work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/prediction.pkl

checkpoint should be the prediction.pkl info should be the dataset info generated here https://github.com/tianweiy/CenterPoint/blob/master/docs/WAYMO.md

# Two Sweep Infos (for two sweep detection and tracking models)
python tools/create_data.py waymo_data_prep --root_path=data/Waymo --split train --nsweeps=2

python tools/create_data.py waymo_data_prep --root_path=data/Waymo --split val --nsweeps=2

python tools/create_data.py waymo_data_prep --root_path=data/Waymo --split test --nsweeps=2

[Jiawen-huang]

thanks！！！ I run ： python -m tools.waymo_tracking.test --work_dir /home/jiawen/CenterPoint/work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x --checkpoint work_dirs/waymo_centerpoint_pp_two_pfn_stride1_3x/prediction.pkl --info_path data/Waymo/infos_val_02sweeps_filter_zero_gt.pkl

then the bug： File "/home/jiawen/CenterPoint/tools/waymo_tracking/test.py", line 176, in transform_box velocity = box[..., [6, 7]]

IndexError: index 7 is out of bounds for axis 1 with size 7 the bug in line:https://github.com/tianweiy/CenterPoint/blob/0d09ec9771509954c30dd653ac7436ff562fd2a8/tools/waymo_tracking/test.py#L176

I print the shape of box：(35, 7)

I do not how to slove it????

[tianweiy]

Hi, for tracking, you need to use one of the config that also predicts box velocity. Your current config doesn't support this.

[tianweiy]

https://github.com/tianweiy/CenterPoint/blob/master/configs/waymo/voxelnet/waymo_centerpoint_voxelnet_two_sweeps_3x_with_velo.py

This one supports velocity prediction (the with_velo in the name)

[Jiawen-huang]

thanks！